Two Legged Walking Robots
The first motor is used to rotate the robot's center of gravity back
and forth over the two feet, and the other motor moves both legs back and
forth. The legs use a simple 4-bar linkage mechanism that keeps the feet
parallel to the ground. Both legs are linked together through the same
motor so that as one leg move forward, the other moves backwards. The body
rotation motor moves the center of gravity over one foot, this causes the
other foot to lift up in the air a small amount. By combining the two
motions together, the robot can move forward, backward, and turn either
left or right.
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