Underactuated Compliant Resonant Walking Robot with Steering Mechanism

Master thesis (2023)

Authors

C.S. Lemmens Mechanical Engineering

Contributors

G. Radaelli Mechatronic Systems Design - Mechanical, Maritime and Materials Engineering (mentor)
Faculty
Mechanical Engineering, Mechanical Engineering
Copyright: © 2023 Cas Lemmens
More Info
expand_more

Published Date

11-09-2023

Language

English

Reuse Rights

Other than for strictly personal use, it is not permitted to download, forward or distribute the text or part of it, without the consent of the author(s) and/or copyright holder(s), unless the work is under an open content license such as Creative Commons.

Faculty

Mechanical Engineering

Abstract


This thesis report presents research on small walking robots. The report begins with an introduction that explains the project’s origin, outlines the project’s goal, and provides an overview of the report’s contents. Following the introduction, a literature study is conducted to investigate the current state-of- the-art steering mechanisms for walking robots.
After the literature study, the research paper is presented, detailing the design process and the robot’s performance results. The paper demonstrates the successful design of a frequency-actuated resonance robot with both forward locomotion and steering capabilities, achieved by using only one actuator.
In conclusion, the literature study provides a novel classification and overview of state-of-the-art walking robots. Furthermore, the research paper showcases the successful design of a frequency-actuated resonance robot with a forward locomotion and steering mechanism, all accomplished with the use of a single actuator.