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Transactions: WSEAS TRANSACTIONS ON SYSTEMS AND CONTROL
Transactions ID Number: 31-760
Full Name: Ion Ion
Position: Professor
Age: ON
Sex: Male
Address: POLITEHNICA University of Bucharest ,Splaiul Independentei no. 313, sector 6, Bucharest
Country: ROMANIA
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E-mail address: luigiv@arexim.ro
Other E-mails: ioni51@yahoo.com
Title of the Paper: The Structure of Modular Walking Robot MERO Displacement Systems, Support of the Heavy Load Transportation
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Number of paper pages: 10
Abstract: Abstract: The modular constructions of the walking robots led to a more suppleness and very good adaptation to any terrain surface. Some of the most significant components of the walking robots are the mechanisms of the displacement systems. The design of the leg mechanisms implies the solving of several problems regarding the static stability, the forces distribution, balancing of the gravitational forces in order to diminish the power consumption, optimization of the foot sole shape, optimization of the kinematic dimensions of the leg etc The advantages of legged system for off-road have been gradually recognised. One of the most important advantages is mobility. The Modular walking robots represent a special category of robots, characterized by having the power source embarked on the platform. The weight of this source is an important part of the total charge that the walking robot must transport. That is the reason why the walking system must be designed so tha!
t the mechanical work necessary for displacement, or the highest power necessary for act it, should be minimal A modular walking robot can traverses most natural terrain. Walking robots better protect the environment, as their contact to the ground is discrete, which considerably diminishes the area underwent to crushing; the robot's weight can be optimally distributed all over the supporting surface, by controlling the forces. Altering the distance to the ground, the robot can pass over young trees or other vegetation, growing in the passage area.
Keywords: .Key-Words: - Modular Walking Robot, Static Balancing, Shifting System ,Legs, Stability margin.
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