Underactuated Compliant Resonant Walking Robot with Steering Mechanism
C.S. Lemmens (TU Delft - Mechanical Engineering)
Giuseppe Radaelli – Mentor (TU Delft - Mechatronic Systems Design)
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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.