Development and Applications of a 3D Printed Walking Robot - Big-Foot

Abstract

The proposed study presents the development of an original idea for a walking robot with a minimum number of motors, simple design and control system. The robot maintains static stability during walking and overtaking obstacles by using only two motors. Described are geometric and kinematic dependencies related to its movement. Various aspects are discussed for improving the robot's capabilities. The changes in the shape of the robot's feet and base in order to improve its ability to overcome various obstacles and maintain static mechanical equilibrium, are discussed here as well. An innovative mechanical coupling for torque transmission in the most loaded joints is presented. A 3D printed model has been created, which finds a variety of educational applications. Different alternatives for controlling the robot and various applications, based on developments of the robot's sensor system are presented.