PT  - JOURNAL ARTICLE
AU  - Gmiterko, Alexander
AU  - Kelemen, Michal
AU  - Virgala, Ivan
AU  - Miková, Ľubica
TI  - Educational Model of Four Legged Robot
DP  - 2014 Oct 31
TA  - Acta Mechanica Slovaca
PG  - 68--73
VI  - 18
IP  - 3
AID - 10.21496/ams.2014.032
IS  - 13352393
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.