Detailed dynamical model of a simple 3D printed walking robot

Stefanov, A. A.; Chavdarov, Ivan; Nedanovski, Dimitar

doi:10.1063/5.0040125

Cited by 4 publications

(2 citation statements)

References 8 publications

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“…Despite the increased reliability of the foot sup-port of this device, there needs to be a separate drive for each swivel to contribute to saving the energy resource of an autonomous power source. In [4,5], a dynamic model of a walking mechanism was proposed. This robot has only two degrees of freedom, but it can step forward and backward, rotate at an arbitrary angle, go around obstacles and even climb stairs.…”

Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 99%

Anthropomorphic walking robot: Design and simulation

Polishchuk¹,

Tkach²,

Stenin³

2022

FME Transactions

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The current stage of development of robotic systems is characterized by the use of anthropomorphic robot designs, the functions of which are as close as possible to human capabilities. This trend is explained by the need to give robots universal capabilities when performing various technological operations. The article proposes a fundamentally new design of a walking robot and describes a model of its functioning. This design allows the robot to move in an angular coordinate system, which is typical for humans. The main motivation for creating such a robot is to reduce the number of drives for the kinematic chain of the walking mechanism. The article presents the results of mathematical modeling and recommendations for the design of anthropomorphic walking mechanisms. The engineering formulas and diagrams presented in the article for calculating force loads make it possible to create various modifications of walking robots that have the property of adapting to an arbitrary surface topology for moving a mobile robot. The economic effect is achieved by reducing the number of electric motors for the robot's leg joints and, consequently, by reducing the total cost of the walking robot.

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Section: Prerequisites and Means For Solving The Problemmentioning

confidence: 99%

Anthropomorphic walking robot: Design and simulation

Polishchuk¹,

Tkach²,

Stenin³

2022

FME Transactions

View full text Add to dashboard Cite

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“…Основните механични компоненти на робота са изработени с 3D принтер. Подробна информация за движенията, кинематиката и преодоляването на препятствия от робота е дадена в[15] и[16].Сензорната система на робота се развива с цел адекватното му приложение за разработваните сценарии. Система от оптрон и диск с отвор служи за броене на крачките.…”

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Aspects of the Intrinsic Motivation as Accessibility Factors in the Inclusive "STEAM" Education

Dimitrova¹,

Sabev²,

Ozaeta³

et al. 2022

STEM

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The paper presents the current development of the proposed by the authors approach to defining digital and e-learning accessibility for effective pedagogical rehabilitation of learners with special learning needs. A novel aspect – intrinsic accessibility – is proposed as complementary to the previously identified extrinsic aspects of accessibility – institutional, informational and cultural. The intrinsic aspects of accessibility – lack of skills, knowledge, or motivation – influence the process of pedagogical rehabilitation of children with special learning needs. Two different pedagogical scenarios implementing educational robots are discussed in a STEAM context.

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