RT Journal Article
SR Electronic
A1 Gmiterko, Alexander
A1 Kelemen, Michal
A1 Virgala, Ivan
A1 Miková, Ľubica
T1 Educational Model of Four Legged Robot
JF Acta Mechanica Slovaca
YR 2014
VO 18
IS 3
SP 68
OP 73
DO 10.21496/ams.2014.032
UL https://www.actamechanica.sk/artkey/ams-201403-0008.php
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.