Analysis and Design of a Legged Walking Robot Based on Jansen Mechanism

Abstract

In this research, a crab robot is implemented in H/W based on Jansen mechanism, and its kinematics is analyzed. The proposed biologically inspired robot is applicable to solve many engineered problems, since it is able to walk with maintaining its body still. The biologically inspired robot is able to achieve the mission appointed by a programmer connecting with outside, based on Blue-tooth communication module. Therefore, the purpose of this research is the implementation of the biologically inspired robot that can operate most adaptively in sand and marsh. For the purpose, the twelve-bar linkage of a crab robot is analyzed kinematically.