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Humanoid, Robosoccer.


This paper describes basic principles of the kinematic structure design for two - leg walking robots. The article deals with the design of walking phases detailed, which is described in sagital and frontal plane so that movement of the centre of gravity was outside the support polygon and also offers the model of walk for the concrete construction of the two - leg walking robot. This article is the result of research activities of our department in humanoid robotics.


Acta Mechanica Slovaca. Volume 15, Issue 4, Pages 14 – 19, ISSN 1335-2393


  Design of Humanoid’s Lower Limbs Model and Phases of Walking


[1] ČIRIP, M, HAJDUK, M., SUKOP, M.: Structural design of walkingand mathematical model of humanoid robot MC – 01, FIRA 2010 Bangalore, India, September 15 – 17, 2010 Proceedings, ISSN 1865 – 0929, ISBN – 10 3-642-15809-9, Springer Berlin Heidelberg New York 2010

[2] NEMEC, M.: Návrh bipedálneho kráčajúceho podvozku servisného robota, doktorandská dizertačná práca, KVTaR, SjF TUKE, Košice 2005
[3] ČIRIP, M; HAJDUK, M.: Návrh stabilizácie a matematických modelov kráčania humanoidných robotov, Košice, 2010
[4] HAJDUK, M.; MARKO, Ľ.: Prístupy k navrhovaniu a riadenia exoskelotonu : písomná práca k dizertačnej skúške, Košice, 2010. - 47 s. :. - ISBN (brož.)
[5] JONG HWAN KIM; PRAHLAD, V.: Trends in Intelligent robotics: 13th FIRA Robot World Congress, FIRA 2010 Bangalore, India, September 15 – 17, 2010 Proceedings, ISSN 1865 – 0929, ISBN – 10 3-642-15809-9, Springer Berlin Heidelberg New York 2010
[6] DANIJELA RISTIĆ: RoboWalker Mobile Robot – Assisted Gait Rehabilitation System, Durrant 2010
[7] ŠIMŠÍK, D., GALAJDOVÁ, A., DOLNÁ, Z.: Variability of Gait in Different Daily Situations, IN: Acta Mechanica Slovaca, volume14 No. 1/2010
[8] ŽIVČÁK, J: Scientific-Research Base of the Department of Biomechanical Engineering, Automation and Measurement at the Faculty of Mechanical Engineering, IN: Acta Mechanica Slovaca, volume 14 No. 2/2010
[9] GMITERKO, A, VIRGALA, I, VACKOVÁ, M.: Dynamic Analysis of the Two-Mass System to Imitate Rectilinear Motion of a Snake, IN: Acta Mechanica Slovaca, volume 14 No.2/2010
[10] TREBUŇA, F, JADLOVSKÝ, J, FRANKOVSKÝ, P, BAKŠIOVÁ, Z, KOSTELNÍKOVÁ, A.: Further Possibilities of Using Photo-Stress for Separation of Principal Normal Stresses, IN: Acta Mechanica Slovaca, volume 14 No. 2/2010
[11] GMITERKO, A, KELEMEN, M, KELEMENOVÁ, T, MIKOVÁ, Ľ.: Adaptive Mechatronic Locomotion System, IN: Acta Mechanica Sloaca, volume 14 No. 2/2010

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