American Journal of Mechanical Engineering, 2013, Vol. 1, No.

7, 355-360
Available online at http://pubs.sciepub.com/ajme/1/7/40
Science and Education Publishing
DOI:10.12691/ajme-1-7-40

Design of Two Legged Robot

Daniel imaj1, Michal Kelemen1,*, Ivan Virgala1, Tatiana Kelemenov2, Erik Prada1, Tom Liptk1
1

Department of Applied Mechanics and Mechatronics, Technical University of Koice, Faculty of Mechanical Engineering, Kosice,
Slovak Republic
2
Department Biomedical Engineering and Measurement, Technical University of Koice, Faculty of Mechanical Engineering, Kosice,
Slovak Republic
*Corresponding author: [email protected]

Received October 15, 2013; Revised October 30, 2013; Accepted November 19, 2013

Abstract Paper deals with two legged robot. The aim was to design the two legged robot with minimum actuators
and low power consumption with respecting of robot stability. Another important aim was to find solution with
stabilized base plate because of the using of navigation and obstacle sensors and CCD camera for teleoperator
remote vision.

Keywords: robot, legged locomotion, actuator, stability

Cite This Article: Daniel imaj, Michal Kelemen, Ivan Virgala, Tatiana Kelemenov, Erik Prada and
Tom Liptk, Design of Two Legged Robot. American Journal of Mechanical Engineering 1, no. 7 (2013):
355-360. doi: 10.12691/ajme-1-7-40.

1. Introduction
Mechatronics grows up last years as research and
business approach to product design and developing. It is
possible to say that almost every sophisticated product has
mechatronic background. The product involves new
functions as monitoring of its state parameters - selfdiagnostic, self-repairing, guider to easy use with
interactive user-friendly interface, self-calibration, remote
wireless communication with user, events history saving,
protection before damaging etc. Products with these
properties are very attractive and preferred by customers.
These products also ensure the business successful and
profitable position on unstable market. All these
mentioned facts are as the motivation for teaching of the
mechatronics approach to product design and development
[1-9].

Figure 1. Two legged robot Wirgil

Also legged robots have been developed as didactic

model for training on mechatronic courses. Students can
propose the algorithms of locomotion and they can also
make optimization of locomotion with experimental
verification. Practice of feedback position controlling

under variable loading is allowed on these models. More

complex tasks are as locomotion through the rough terrain
with obstacle avoiding with respecting of their stability.
Two legged robot Wirgil has been developed in year
2009 [10,11]. The robot Wirgil has good manoeuvres
abilities and it uses six rotational position servos (three for
every leg). A big disadvantage of the robot is that machine
body (with obstacle sensor, CCD camera etc.) makes
swinging motion during the locomotion. Obstacle sensing
was complicated and view from CCD camera was
unstable. Also, if any manipulator is mounted on base
plate, than end effector handling could be very hard or
impossible.
The paper deals with design of two legged robot for
didactic purposes with stabilized base for sensors.

2. Design of Kinematics Arrangements

Designed variants have common significant novelty,
that base plate (place for sensors, CCD camera or
manipulator) is stabilized. Robot doesnt have to do
swinging motion during the locomotion. It means that
obstacle sensing, manipulator end-effector handling and
video capturing is easier, than before.
Hip joints are mounted under the base plate and the
have common axis of rotation. All variants are based on
principle of step over locomotion. Consequently, it causes
that it is not necessary to make swinging motion for
moving of centre of gravity (for maintaining of robot
stability).
Base plate is also maintained in equal high over the
ground. Also, it is possible to change desired value of high
of base plate. Designed variants differ mainly in count of
actuators and kinematic arrangement.
On the base of designed kinematic arrangements, the
CAD models have been created in SolidWorks

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environment. These models have been used for walking

simulation motion study. These motion studies show
results (base plate position, time dependence of loading of
actuators, time dependence of consumed energy).

2.1. Kinematic Arrangement Variant A

This arrangement Figure 2 has 6 DOF (degrees of
freedom). Both legs have 3 planar joints (hip, knee and
ankle joint). Every joint is actuated with position
servomechanism.

Walking phases Figure 4 obtained from simulation are

shown on Figure 4. Walking starts in position 1 with
removing of base plate in forward direction position 2. It
means that centre of gravity is shifted to right foot. This
motion is realized with simultaneous motion of every
rotation servomechanisms. After that, left leg is lifted
position 3 and left foot is moved before right foot
position 4 and 5. Centre of gravity is shifted to left foot
(base plate is shifted forward) position 6 and 7. These
steps are also realized with right leg - position 8 12.
Both feet should be parallel with ground before placing
foot to the ground, because of ensuring the better stability
of the robot.

2.2. Kinematic Arrangement Variant B

This variant Figure 5, Figure 6 has also 6 DOF, but it
has only 4 planar joints (hip and ankle joints). Other 2
DOF are designed as linear link (instead of knee planar
joints). Planar joints are actuated with rotational position
servomechanisms and linear actuators are used for both
linear links.
Figure 2. Kinematic arrangement variant A

Figure 3 shows the CAD model of kinematic

arrangement used for walking simulation.

Figure 5. Kinematic arrangement variant B

Figure 3. CAD model of kinematic arrangement variant A

Figure 6. CAD model of kinematic arrangement variant B

Figure 4. Walking simulation with CAD model of kinematic

arrangement variant A

Walking of the variant B Figure 7 starts with moving

from starting position 1 to position 2. Centre of gravity is
moved to zone of right foot. All actuators have to move
simultaneous. Left leg plugs in with linear actuator
(position 3), so left foot is lifted up. Next step is reposition
of left foot in forward direction before right foot (position
4 and 5). Left foot should be parallel with ground in
position 5, because of ensuring the robot stability. In other
case the loss of robot stability occurs. Simultaneous
motions of all actuators cause the removing of the base
plate in forward direction (position 6). Analogically, the

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next steps (position 7 to 12) make reposition of right foot

in forward direction.

357

of left foot (position 2). After this, it is possible to lift

right foot without of loss of robot stability. So, right foot
with overall parallelogram is lifted up (position 3).
Rotation of actuator placed in right feet (ankle joint)
causes the reposition of right feet in forward direction
before left feet (position 4 and 5). Linear actuator drops
the right feet to ground. Positions 7 and 8 represent the
reposition of centre of gravity to floor projection of right
feet. Analogical, the left foot is moved in forward
direction (position 9, 10 and 11). Walking step position 12
is the same as position 1. Steps are repeated again.

Figure 7. Walking simulation with CAD model of kinematic

arrangement variant B

2.3. Kinematic Arrangement Variant C

Variant C Figure 8, Figure 9 has 4 DOF. Two DOF are
realized with linear links and parallelogram mechanism.
Parallelogram mechanism ensures the parallelism of feet
and ground.

Figure 9. CAD model of kinematic arrangement variant C

Figure 8. Kinematic arrangement variant C

The parallelogram mechanism consists of four planar

joints and two parallel levers with equal length. Rotational
position servomechanism is designed as actuator for the
parallelogram and this servomechanism is placed in the
foot. The placement of servos in the feet are suitable,
because of better stability of robot (centre of gravity is
lower). Another two DOF are formed from linear links
actuated with linear actuators. These linear links enable
the lifting of overall parallelograms with foot.
Walking sequence of the variant C Figure 10 starts with
starting position 1. Simultaneous motions of all actuators
enable removing the centre of gravity to floor projection

Figure 10. Walking simulation with CAD model of kinematic

arrangement variant C

3. Power Consumption of Designed Variants

Simulations of designed variants allow obtaining power
consumption. This viewpoint helps to evaluate designed
variants. This criterion is also important, because robot
will operate with energy stored in accumulator placed in
robot body. Figure 11 shows power consumption in time
for designed variants.

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Figure 11. Power consumption of designed variants

Integration of these dependencies in time shows that

power consumption of designed variants are
approximately equal (variant A = 0.358 Ws; variant B =
0.235 Ws; variant C = 0.351 Ws). All mentioned power
consumption is only informative, because efficiencies of
used actuators are neglected.

5. Ability of Obstacle Crossing

Step is very frequently occurred obstacle. Simulation of
step crossing has been executed. Variant C is able to cross
the highest step without loss of stability Figure 13.

4. Self-locking Stability
Very important criterion is self-locking of robot body in
situation, when robot staying on one place. Figure 12
shows loss of stability of variant A, because power supply
is turned off.

Figure 12. Variant A loss stability (falling down) when power supply is
turned off

Holding of stability for variant A is possible only in

case of continually excitation of used actuators. However,
this requires a lot of energy consumption. For this reason
this variant A can be rejected for another robot design.
Variants B and C contains linear actuators, which have
screw transmission of power. The used linear actuators
have holding force 43 N, which defines maximum load of
these actuators.

Figure 13. Variant C walking across the step

The variant C has been selected for final robot design,

because of its best results in simulation of step crossing.

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6. Rotation of the Robot

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Proposed variant C has been designed for straight

walking in forward or backward direction. Rotation of the
robot can be realized through the rotation servomechanism
placed in foot Figure 14.

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Figure 14. Rotation of Variant C

7. Conclusion
On the base of mentioned evaluations, variant C has
been selected as best design from proposed variants. The
aim was to design the two legged robot with minimum
actuators and low power consumption with respecting of
robot stability. Another important aim was to find solution
with stabilized base plate because of the using of
navigation and obstacle sensors and CCD camera for
teleoperator remote vision. This property is presented as
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Next steps include selection of the sensors for
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It is necessary also to sense angle of rotation (position)
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Next planes assume the using of the robotic hand for
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This robot has been designed as didactic tool at
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Acknowledgement
This paper is the result of the project implementation:
Research of modules for intelligent robotic systems
(ITMS: 26220220141) supported by the Research &
Development Operational Programme funded by the
ERDF.

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