DIFFERENT WALKING TECHNOLOGY USED FOR ROBOTICS MECHANISMS AND MECHANICAL DEVICES

Abstract

Statically-stable walkers are easier to implement than dynamically-stable walkers. A method used to group statically-stable walkers is the technique used to move the legs. There are three useful sub groups: wave walking, independent leg walking, and frame walking. Wave walking is what animals with many legs use, like millipedes. Independent leg walking is used by just about every four, six, and eight-leg walker, although some simplify things by moving their legs in groups for certain speeds or motions. Frame walking exists in nature in the form of an inchworm, and is the simplest of the three, but to have high mobility still requires many actuators. As we shall see, frame walking can be a very effective mobility method for a mobile robot.