Instant Centre of Rotation of the Robot Big Foot during Motion and Overcoming an Obstacle

What is it about?

An approach is presented for experimental determination of the instant centre of rotation and the trajectories of this centre for some links of a walking robot. Experiments are carried out with a 3D Printed model of the robot Big Foot. It has only two motors and simple mechanical design, and yet it can walk, turn and overtake obstacles, even climb stairs comparable to its size. The trajectory of the instant centre of rotation for one link is determined at different phases of overcoming an obstacle. The behaviour when moving on a flat terrain and overcoming an obstacle is also investigated. Conclusions are made, based on the obtained results in order to improve the design.

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