Robot Mechanisms and Mechanical Devices Illustrated - Profe Saul

Chapter 7 Walkers 215
Figure 7-15
roller walker
Whisker-wheeled
ment, but decreases efficiency. They have very high mobility, able to
climb steps nearly as high as the legs are long. Robotics researchers are
working on small four- and six-wheel leg robots that use this concept
with very good results. Figure 7-15 shows the basic concept. A variation
of this design extends the whisker legs more axially than radially. This
idea is taken from studying cockroaches whose legs act like paddles
when scrambling over bumpy terrain.
If walking is being considered as the mobility system for an
autonomous robot, there are several things to remember.
• Using a statically-stable design requires far less expertise in several
fields of engineering and will therefore dramatically increase the
chances of success.
• Frame walking is easier to implement than wave- or independent-leg
walking.
• Studies have shown six legs are optimal for most applications.
• Rotary joints are usually more robust.