Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles

Abstract

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors. Described are basic geometric and kinematic dependencies related to its movement. It is proposed optimization of basic dimensions of the robot in order to reduce energy losses when moving on flat terrain. Developed and produced is a 3-D printed prototype of the robot. Simulation and experiments for overcoming an obstacle are presented. Trajectories and instantaneous velocities centers of links from the robot are experimentally determined. The phases of walking and the stages of overcoming an obstacle are described. The theoretical and experimental results are compared. The suggested dimensional optimization approaches to reduce energy loss and experimental determination of the instant center of rotation are also applicable to other walking robots.

Cyber-Physical Systems for Pedagogical Rehabilitation from an Inclusive Education Perspective

“…Non-humanoid robots have no external resemblance to a human. The original design of a walking robot BigFoot is an example of a moving robot, capable of climbing stairs and avoiding obstacles by using several mechatronic principles of changing position in space (Chavdarov & Naydenov, 2019). The game with BigFoot enhances spatial orientation, coordination, communication, and sustaining attention of children.…”

Analysis and experiments with a 3D printed walking robot to improve climbing obstacle

“…The design and kinematics of the robot are presented in more detail by Chavdarov and Naydenov. 23 The robot consists of a base (1) on which the body (2) is housed so as to allow rotation about a vertical axis R1 ( Figure 1). This rotation is carried out by means of a gear motor (6), whose stator is fixed to the body (2), and the rotor moves the circular base (1).…”

“…Gears with gear ratio of i ¼ 1 are located in arms (3), so that it maintains a constant orientation of the feet (4) relative to the robot's body (2). 23 The model is powered by a rechargeable battery, and the control is carried out remotely via Bluetooth communication with a PC or a smartphone. Different variants of the control software are developed using sensors of different types.…”

“…This is useful in experimenting with various asymmetric bases (1). 23 Figure 2 schematically shows the main components that make up the walking mechanism and have a direct impact on overcoming obstacles. The three sprockets (z 1 ; z 2 ; z 3 ) have the same number of teeth.…”

“…A methodology for optimizing the navigation in unstructured environments is proposed by Abad et al 21 A new design of a walking robot based on a minimalist approach is presented-"Less is more"-Miss Wander Rohe. 22,23 The robot has only two motors, and yet, it can move back and forth by walking to rotate at a random angle, to avoid obstacles or overtake them, and even to climb stairs according to its size. Its control system is also very simple.…”