Anthropomorphic walking robot: Design and simulation

Abstract

The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot.