Development of a compact walking machine design for research

At present, the development of walking machines is a rapidly growing area in mechanical engineering. The availability of compact, powerful power sources, high–torque motors and high–speed computers makes it possible to create machines that were previously inaccessible, with the necessary features and simple design. This paper presents the results of developing a compact walking robot using brushless quasi–direct drives. The robot has four limbs, each with three degrees of freedom. The aim of the development described in this article was to create a compact design compared to analogues, while retaining full functionality and all degrees of freedom. The walking machine was named MORS (Small Educational Robot Dog [Russian]). The design gave good results in terms of strength, controllability and, despite its compact size, allowed the robot to carry a payload of 5kg, which is 67% of the machine’s own weight.
EDN: BSPBXH, https://elibrary/bspbxh

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