Analysis of the Trajectory Shape Described by a Robotic Leg during a Walking Sequence

Abstract:

An experimental test bench is proposed in order to analyze the trajectory shape described by the termination of the Jansen’s type of leg mechanism during a walking sequence. A prototype of a walking robot based upon Jansen walking mechanism is constructed for this purpose. A marker is placed at the end of the leg and a CCD camera recorded the trajectory shape described by the leg driven by a DC motor through a crank. The results are interpreted with the help of a program based on image processing created for determining the length and the height of the step during walking after studying the trajectory.

• Periodical: Applied Mechanics and Materials (Volume 658)
• Pages: 684-689
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.658.684
• Online since: October 2014
• Authors: Florina Pop*, Valer Dolga, Cristian Pop
• Keywords: CAD Design, Trajectory, Walking Mechanism, Walking Robot

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