Dynamics and Control of a 3D Printed Walking Robot

摘要

The construction of 3D printed walking robot based on a minimalistic design is presented. The robot has only two motors, but despite that, it is capable of moving forward (or backwards) by walking, rotating to an arbitrary angle, going around obstacles, and even climbing stairs (in accordance with its size). The relevant geometric and kinematic properties of the robot are studied. A dynamical model is also given, which is used as a basis for the development of suitable control algorithms. Some of the applications of the prototype are reviewed - currently it finds applications in the education process at some schools and universities. Some new possible applications are also discussed. The paper ends with conclusions and discussion regarding possible improvements in the design, based on the currently developed dynamical model.