Detailed dynamical model of a simple 3D printed walking robot

摘要

We present the detailed dynamical model of a 3D printed walking robot with a minimal number of degrees of freedom (DOF). The robot has only two DOF, but despite that, it is capable of moving forward (or backwards) by walking, rotating to an arbitrary angle, going around obstacles, and even climbing stairs, in accordance with its size. Following a tendency of an increased popularity of robots in the education process, the prototype finds application in specialized educational methods for work with children with autism or development problems.