Volume 18, Issue No.3-4


Robot, legged locomotion, sensor, mechatronics


The paper deals with four legged walking robot Youpy. The robot has been designed as educational model. It has 8 degree of freedom in legs. Control of locomotion is based on reposition of centre of gravity. Standard servomechanism is used as actuator, which is frequently used for radio controlled models. After the simulations realized on 3D model, the functional model has been constructed. Designed flowchart of the forward locomotion has been verified on functional model. Maximum velocity for forward locomotion is 25 cm/s. Next part of the paper deals
with conception of the feedback control of legs motion.


Acta Mechanica Slovaca. Volume 18, Issue 3-4, Pages 68–73, ISSN 1335-2393


  Educational Model of Four Legged Robot


[1] Jurisica, L., et al. (2005): Robotics. Slovak Technical University, Fac. of Elec. Eng., Bratislava, 2005. 134 pages.
[2] Kacir, K. (2011): Design of functional three wheel vehicle with navigation in unknown environment. Ms Thesis, Technical university of Kosice, Fac. of Mech. Eng., 2011, Kosice, 62 pages.
[3] Mikova, L., Trebuňa, F.: The Application of Simulation Methods for Modeling Mechatronic Systems. Acta Mechanica Slovaca. Vol. 16, No. 2, 2012, pp. 32-37. ISSN 1335-2393.
[4] Nitulescu, M.: Experiments in Mobile Robot Control. Mechatronics 2008. Paper #200. Available online. 2008) Cited 04-07-2013. http://www.mecatronica.pub.ro/romar/articole/mecatronics2008_200.pdf.
[5] Vitko, A., Jurišica, L., Babinec, A., Duchoň, F., Kľúčik, M.: Some Didactic Aspects of Teaching Robotics. In: AT&P Journal Plus. ISSN 1336-5010. No. 2. Robotics in education (2010), pp. 109-112.
[6] Ivančo, V., Dovica, M., Gorzás, M.: In-Pipe Machine and Principles of its Motion and Control. Acta Mechanica Slovaca. Vol. 14. No. 2., 2010. pp. 66-70. ISSN 1335-2393.
[7] Dekan, M., Duchoň, F., Jurišica, L., Vitko, A., Babinec, A.,: iRobot Create Used in Education. In: Journal of Mechanics Engineering and Automation. ISSN 2159-5275. Vol. 3, Iss. 4 (2013), s. 197-202.
[8] Koniar, D., Hargaš, L., Hrianka, M.: Application of standard DICOM in LabVIEW. Proc. of 7th conf. Trends in Biomedical Engineering, Kladno 11. – 13. 9. 2007 ISBN 978-80-01-03777-5.

[9] Hargaš, L., Hrianka, M., Koniar, D., Izák, P.: Quality Assessment SMT Technology by Virtual Instrumentation. Applied Electronics 2007, Pilsen, 5. – 6. 9. 2007, ISBN 987-80-7043-537-3,
[10] Gmiterko, A., Virgala, I., Vacková, M.: Dynamic Analysis of Two-Mass System to Imitate Rectilinear Motion of a Snake. Acta Mechanica Slovaca. Vol. 14. No. 2. pp. 74-81. ISSN 1335-
[11] Duchoň, F., Dekan, M., Jurišica, L., Vitko, A.: Some Applications of Laser Rangefinder in Mobile Robotics. In: Journal of Control Engineering and Applied Informatics. - ISSN 1454-8658. - Vol. 14, No. 2 (2012), s. 50-57
[12] Gmiterko, A., Kelemen, M., Kelemenová, T., Miková, L.: Adaptable Mechatronic Locomotion System. Acta Mechanica Slovaca. Vol. 14. No. 2. 2010. pp. 102-108. ISSN 1335-2393.
[13] Trebuňa, F., Šimčák, F., Handbook of experimental mechanics. 1st edition. Košice : TU of Kosice, Fac. Of Mech. Eng. 2007. 1526 pages. ISBN 970-80-8073-816-7.
[14] Hanzel, J., Duchoň, F., Rodina, J., Pásztó, P.: Global Navigation Systems for Mobile Robots. In: International Journal of Systems Applications, Engineering & Development. - ISSN
2074-1308. - Vol. 7, Iss. 5 (2013), s. 279-285.
[15] Tölgyessy, Michael - Chovanec, Ľuboš - Pásztó, Peter - Hubinský, Peter: A Plane Based Real-Time Algorithm for Controlling a Semi-Autonomous Robot with Hand Gestures Using the Kinect. In: International Journal of Imaging and Robotics. - ISSN 2231-525X. - Vol. 13, Iss. 2 (2014), s. 126-133.
[16] V. Baláž, , E. Ostertagová, , D. Palaščáková. Using of e-learning for teaching extension at KVTaR Acta Mechanica Slovaca. Vol.. 10, No. 2-A (2006), pp. 47-50. - ISSN 1335-2393


Latest Issue

ams 2 2016