Effect of the deformability of structural links on the motion of a two-legged walking robot

Artikel i vetenskaplig tidskrift, 1993

The problems of the dynamics and parametric optimization of the motion of a walking robot are solved within the framework of a seven-link robot's model with the elasticity of the structural components taken into account. The effect of the elasticity of the links on the kinematic, dynamic, and energy characteristics of the locomotion of the walking mechanism is studied.