What is it about?

The proposed study presents an original concept for the design of a walking robot with a minimum number of motors. The robot has a simple design and control system, successfully moves by walking, avoids or overcomes obstacles using only two independently controlled motors.Developed and produced is a 3-D printed prototype of the robot.

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Why is it important?

Developed and produced is a 3-Dprinted model consistent with the obtained results.Compared to the other walking robots that can overcome obstacles and climb stairs, the walking robot described in this study has a simple construction and only two control - lable motors. It can overcome very high obstacles com-pared to its size, with a coefficientKro¼0.34. The robot is very maneuverable and can turn 360around the vertical axis. The robot overcomes obstacles without the use of sensors and also maintains static stability during movement even without corrective control signals. It also adapts passively during overcoming an obstacle. Because of its simple design, the robot does not require complex control system which increases the reliability and robustness com-pared to other walking robots.


Part of the future work is the development of the sensor and control system of the robot is forthcoming.A specialized control algorithm is under development to reduce the dynamic loads described in another work.

Ivan Nikolov Chavdarov
Sofiski universitet Sveti Kliment Ohridski

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This page is a summary of: Design and kinematics of a 3-D printed walking robot “Big Foot”, overcoming obstacles, International Journal of Advanced Robotic Systems, November 2019, SAGE Publications, DOI: 10.1177/1729881419891329.
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