RT Journal Article
SR Electronic
A1 Sukop, Marek
A1 Hajduk, Mikuláš
A1 Marko, Ľuboš
A1 Varga, Jozef
T1 Design of Humanoid's Lower Limbs Model and Phases of Walking
JF Acta Mechanica Slovaca
YR 2011
VO 15
IS 4
SP 14
OP 19
DO 10.21496/ams.2011.035
UL https://www.actamechanica.sk/artkey/ams-201104-0002.php
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.