In this article is presented a short classification for walking robots that are based on leg locomotion and the main objectives that walking robots designers must achieve. The leg configuration of the walking robot is essential for obtaining a stable motion. Computer aided design process offers certain advantages for designers who attend to realize competitive products with fewer errors and in a short term. The aim of this article is to present the graphical results of the kinematic analysis of a new type of walking mechanism designed by Dutch physicist and sculptor Theo Jansen using Pro Engineer program and SAM, in order to compare the results.

From the analysis of Theo Jansen walking mechanism and of the path curve that it describes the reduced capability for crossing over obstacles of the Jansen leg (1 DOF) is pointed out. By using a 5 link belt mechanism with 2 DOF can be adapted for generating similar Jansen mechanism path curve, where the step height of this path can be increased. For this purpose a mathematical model is conceived in order to analyse and determine the parameters for driving and control of the operation of the novel walking leg solution.

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This paper presents the development of a voice and gesture based interface (HMI – Human - Machine Interface) for the human control of a mobile robot. The application utilizes the Microsoft Kinect sensor and its Visual Studio C# libraries for voice and gestures recognition. Once, the specific voice commands or gestures are recognized, the controller (a PC or Laptop) sends specific commands to a microcontroller (ATmega2560 on an Arduino Mega board). The microcontroller is mounted on the mobile robot and controls the robot’s motors. Also there are presented some limitations of the Kinect sensor to be taken into consideration when using it.

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