PT Journal
AU Gmiterko, A
   Kelemen, M
   Virgala, I
   Mikova, L
TI Educational Model of Four Legged Robot
SO Acta Mechanica Slovaca
PY 2014
BP 68
EP 73
VL 18
IS 3
DI 10.21496/ams.2014.032
DE Robot; legged locomotion; sensor; mechatronics
AB The paper deals with four legged walking robot Youpy. The robot has been designed as educational model. It has 8 degree of freedom in legs. Control of locomotion is based on reposition of centre of gravity. Standard servomechanism is used as actuator, which is frequently used for radio controlled models. After the simulations realized on 3D model, the functional model has been constructed. Designed flowchart of the forward locomotion has been verified on functional model. Maximum velocity for forward locomotion is 25 cm/s. Next part of the paper deals with conception of the feedback control of legs motion.
ER