Acta Mechanica Slovaca 2011, 15(4):14-19 | DOI: 10.21496/ams.2011.035

Design of Humanoid's Lower Limbs Model and Phases of Walking

Marek Sukop, Mikuláš Hajduk, Ľuboš Marko, Jozef Varga*
Department of Production Systems and Robotics, Němcovej 32, 042 00 Košice, Slovak Republic

This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.

Keywords: Humanoid, Robosoccer

Received: April 5, 2011; Accepted: May 18, 2011; Published: October 31, 2011  Show citation

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Sukop, M., Hajduk, M., Marko, Ľ., & Varga, J. (2011). Design of Humanoid's Lower Limbs Model and Phases of Walking. Acta Mechanica Slovaca, 15(4), 14-19. doi: 10.21496/ams.2011.035
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