A New Type of Walking Robot Based upon Jansen Mechanism

Abstract

In this article it is presented a general overview of the existing types of walking robots developed in the field of robotics research and the main advantages offered by legged locomotion in achieving a specific agility in crossing over uneven terrains. The aim of this article is to present the results of kinematical analysis developed upon a ten bar linkage designed in CAD in order to study the possibility of using this new type of mechanism for building a walking robot. It also illustrates the advantages of using CAD simulation tools for analyzing the path described by the end point of the foot during walking.