Robot based on walking Jansen mechanism

Abstract

Walking mechanisms can move across different terrains. They are usually based on planar linkages with single degree of freedom. Basic idea is to, through observing human and animal locomotion, create a linkage that is more efficient while crossing rough terrains. Theo Jansen, one of the most popular walking mechanisms, is 8-bar mechanism with single degree of freedom. In this paper are presented analysis of the walking mechanisms, advantages of walking mechanisms in comparison with classical wheeled machines and the effect of certain parameters on its performances. The locus analysis was performed as well as the analysis of the leg when it touches the ground, which can contain solid information that can be of use.