The Kinematic Analysis of the Walking Mechanism Based on the Leg-Wheel Mobile Robot

Abstract:

In the studying and designing process for the robotic walking system, a theoretical analysis and simulation on the kinematic characteristics of the walking mechanism of the robot is done. From our experiments, the characteristic curves of velocity and acceleration of the drop-foot point are obtained. The walking mechanism is stable in the translation cycle, which contributes to the stability of the robot motion, while the robot still can move at a certain speed. The stress of the walking mechanism is complicated in the step cycle, because both the velocity and acceleration get a certain amount of mutation.

• Periodical: Advanced Materials Research (Volumes 694-697)
• Pages: 1700-1704
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.694-697.1700
• Online since: May 2013
• Authors: Peng Hui Li*, Rong Ye Li
• Keywords: Kinematic Analysis, Leg-Wheel, Robot, Walking Mechanism

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