Design of a Single Actuator Walking Robot via Mechanism Synthesis Based on Genetic Algorithms

In the past decades, an extensive research has been focused on legged walking robots. One of the most attractive trends in the design of walking robots is the development of biped robots with reduced number of degrees of freedom. This paper deals with a new solution of a legged walking mechanism with four-bar mechanism and only one actuator. A Genetic algorithm based mechanism synthesis has been implemented in the design of four-bar mechanism. The efficiency of the suggested design of the legged walking robot is illustrated by numerical simulations that carried out via ADAMS, and the results show that this design has the capability of walking both forward and backward.

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