Design of Walking Robot Based on Jansen Mechanism for Non-uniform Ground Surface

균일하지 않은 지면 보행을 위한 얀센 메커니즘 기반의 보행로봇 설계

Jansen mechanism is basic principal of walking robot. Because that mechanism have many link, walking robot can walk like animals. One of the feature is that space is existed between leg of walking robot and ground surface. So, it can walk through the non-uniform ground surface that have obstacle. In this paper, I will suggest design of walking robot that can walk on non-uniform ground surface effectively based on Jansen mechanism.