Today Pierluigi Rea, DiMSAT (University of Cassino, Italy)is giving a conference named Mechanical Design and Analysis of A Novel Walking and Climbing Robot.
In this seminary the mechanical design and stability analysis of a novel biped walking and climbing robot are presented. The leg mechanism of the biped robot is composed by 2-(3-RPS) parallel structures, which allow the multi-directional static walking on flat terrains, because of a specific pneumatic actuation controlled in on/off environment. Each serial-parallel leg mechanism shows 6 d.o.f.s since it is composed by a serial connection of two 3-RPS (Revolute-Prismatic-Spherical) parallel modules. The transient motion of the biped robot from a horizontal terrain to a vertical wall is possible because of a suitable rotation of 90 degrees that can be performed by each foot. In particular, a stability analysis is proposed and discussed through a suitable investigation of the worst configurations of the biped walking and climbing robot in order to design each rectangular foot properly.