PT  - JOURNAL ARTICLE
AU  - Sukop, Marek
AU  - Hajduk, Mikuláš
AU  - Marko, Ľuboš
AU  - Varga, Jozef
TI  - Design of Humanoid's Lower Limbs Model and Phases of Walking
DP  - 2011 Oct 31
TA  - Acta Mechanica Slovaca
PG  - 14--19
VI  - 15
IP  - 4
AID - 10.21496/ams.2011.035
IS  - 13352393
AB  - 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.