Four legged robot with feedback control of legs motion

Tatiana Kelemenova, Michal Kelemen, Jaromir Jezny


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, so controlling of locomotion is complicated. Standard servomechanism is used as actuator, which is commonly 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. Design and development of the robot is not yet finished.


legged locomotion, mechatronics, robotics

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ISSN 1801-1217 (Print)
ISSN 1805-9422 (Online)
Published by the Czech Technical University in Prague, Faculty of Mechanical Engineering