International Journal of Academic Engineering Research (IJAER)

ISSN: 2643-9085
Vol. 6 Issue 4, April - 2022, Pages:3-7

Overview of Innovative Walking Robots

Svitlana Sotnik1, Vyacheslav Lyashenko2
1Department of Computer-Integrated Technologies, Automation and Mechatronics, Kharkiv National University of Radio
Electronics, Ukraine
2Department of Media Systems and Technology, Kharkiv National University of Radio Electronics, Ukraine
e-mail: [email protected]
Abstract: This overview article discusses latest advances in robotics using example of 2, 4 and 6 finite walking robots applied in
various fields. The document provides an overview of main types of walking robots structures, body shapes and types of movers.
Thus, on basis of review, classification of main types of walking robots structures, body shapes and types of walking robots movers
is given; main parameters and areas of application of walking robots are determined. The paper considers novelties in robotics:
bipedal robot, which is most realistic of Ameca's humanoid robots; bipedal robot Kaleid Friends, as well as an innovative robot
with 4 limbs Bex (Kawasaki) and 6 – Robotics Six-legged Spider.
Keywords—frame; engine; design; walking robot
Design and control of SLIDER: an ultra-lightweight, low-
cost bipedal walking robot without knees is described in [16].
1. INTRODUCTION
In [17], a constructive basis for construction of robot leg is
One of promising areas was and remains robotics [1]-
proposed. The general theorem is given to design a mechanism
[6].Various methods and approaches for their construction,
based on template for maximum efficiency. The problem of
modeling and analysis can be used here [7]-[15].
choosing actuators is being solved.
Walking robots (WR) are popular subject of research
Numerical analysis of dynamic parameters of mobile
around world. Such robots can be used in various fields
walking robot is considered in [18].
ranging from rescue operations to social services.
Optimization of walking robots parameters and algorithms
The popularity of such robots is largely due to their main
for their movement is described in [19]. An assessment of
advantage over other types of moving robots – ability to
walking robots performance was carried out.
overcome surfaces with complex terrain.
The problems of designing walking flying robot are
Walking robots can solve various classes of tasks, for
described in [20]. The peculiarity of work is that we are talking
example, industrial ones to perform heavy, monotonous,
about robotic platform with hybrid mobility, which can be
harmful and dangerous physical work. Industrial robots are
used in hazardous industrial environments or emergency
mainly designed to automate all kinds of manual and transport
power plants, where several types of obstacles cannot be
operations in various industries. Or research – search,
overcome by movement and flight is not always possible.
collection, processing and transmission of information about
objects under study. Objects can be underwater and air space, The area of WRs application is described in [21]-[24]. The
underground cavities, etc. use of WR in healthcare, namely in field of information and
communication technologies (ICT), namely, robot services,
Some modern WRs are able to independently move in
with elements of gamification.
various directions. Some can stand, sit, walk on uneven
surfaces, climb up and down various surfaces, and even fall In [25] WR in construction, authors developed an
without much harm to themselves. Develop different speeds to autonomous walking excavator – universal robot on
move. construction sites. The authors described the process of
converting finished construction machine into an autonomous
Thus, main purpose of article is to review innovative
robotic system.
walking robots.
The robot is considered in four different real-world
2. BRIEF OVERVIEW OF RELATED WORKS
applications, such as autonomous trenching, autonomous
Development of walking robots is also of great interest. assembly of dry stone walls, autonomous forestry work, and
semi-autonomous remote control.
Walking robots are the second most common type of robot
that can move around. Currently, many devices have been Humanoid robots in aircraft industry: examples of use of
created – walking robots, where authors describe designs, airbuses are presented in [26].
characteristics and advantageous areas of application of
In [27], review of walking in-line robots, which are new
walking robots.
class of in-line robots with greater maneuverability, but also
more complex control compared to other, more common types
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International Journal of Academic Engineering Research (IJAER)
ISSN: 2643-9085
Vol. 6 Issue 4, April - 2022, Pages:3-7
of in-line robots. The focus of article is on inverse kinematics long axis of symmetry. This is manifested due to change in
of these robots. distance and relative position of attachment points of limbs.
A review and prospects for development of mobile walking Difference from hexagonal shape is other restriction of
robotic systems are considered in [28], [29]. rotation angles of “front” and “back” legs, which makes it
possible to realize rectilinear movement using limb with two
3. FEATURES OF WALKING ROBOTS USE
degrees of freedom.
World market for WR is expanding day by day.
Single-segment (SS) – has rigid configuration and two
Perfect walking robots imitate movements of insects, degrees of freedom (horizontal and vertical). This makes it
crustaceans, and sometimes humans, that is, their distinctive possible to move in straight line with an elongated body shape,
feature is that biological approach is used in design of turn on spot and adjust height of robot within small limits. The
structure. height adjustment of robot is possible under certain conditions
(robot mass, drive power, surface properties), since when
WRs are mainly used for: research, rescue operations, height changes, limbs will slip [30].
entertainment, military and industrial purposes, healthcare,
agriculture. Multi-segment (MS) – has changeable configuration due to
movable segments. The number of freedom degrees in this
There are different types of walking robots structures, body
case is usually one more than number of segments. Each
shapes and types of propulsion systems for WR depending on
segment is connected to adjacent one (one drive), and first one
tasks to be solved (Table 1).
from body has two drives for horizontal and vertical
movement. The number of segments is limited by needs of
developer (or customer) and characteristics of equipment used.
Table 1: Types of walking robots structures, body shapes Most often in six-legged robots there are two-segment limbs
and types of propulsion units with three degrees of freedom. This is enough to perform
Characteristic Description locomotional actions [30].
Types of hull designs
One piece body Pantograph scheme for controlling supporting part of limb:
Axisymmetri – within wide range, you can change height of robot when
Articulated body
c shape Oblong shape standing on its limbs, while supporting part of limb will remain
RS GG in one place;
Propulsion types
Single lever Multi- – control of support segment of limb by means of drive,
Lever scheme link while drive is located in body-torso, and not on joint. This
SS MS (pantog option can significantly reduce force of gravity acting on limb
raph) when lifting, which increases stability.
It is piston with spring, Telescopic scheme – scheme with following feature –
pneumatic or hydraulic absence of levers, which removes force acting on fasteners and
Telescopic scheme drive. Usually piston is fixed limb drive. The change in the height of raising limb is replaced
on axis of rotation (or two by level of piston cylinder extension. Forward movement is
axes) without additional carried out by changing level of cylinder extension and angle
segments. of drive rotation, rotation plane which is perpendicular to
This is arc made of plastic direction of movement and crosses surface.
material, fixed on axis of
Arc scheme rotation from one end. The Difference between telescopic system and lever system is
design is cross between also in arc of rotation. If in lever system arc is in plane of
wheel and limb. surface, then in telescopic plane they are perpendicular.
Number of legs Arc circuit is movement occurs when actuator rotates in
2 4 6 and miriapods Direction of convex side of arc. The principles of movement
and turns are similar to caterpillar tracks. The advantage of
Note* RS – round shape; GG – hexagonal.
scheme is high cross-country ability, and average speed
Axisymmetric shape – without constructive orientation, performance. Can be used in robots without top-bottom
which means that robots do not have division of body parts orientation.
into front / rear and side.
Disadvantages are unidirectional movement (rotation of
The oblong shape has pronounced orientation, namely, arc in opposite direction can lead to hooking or jamming),
they are structurally more adapted to movement in direction of unstable, bouncing nature of movement.

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International Journal of Academic Engineering Research (IJAER)
ISSN: 2643-9085
Vol. 6 Issue 4, April - 2022, Pages:3-7
The bipedal design is attractive for implementation, since
it is based on and repeats human motor skills, however,
implementation of such robot is rather complicated.
With increasing emergence of bipedal robots in wide range
of scientific and diverse industrial fields, especially in
extremely hazardous environments, bipedals need lot of
attention for scientific research and achieving stable gait
control. The basis of bipedal walking is efficient gait planning,
and this potentially affects overall performance of bipedal
robot as well as stable dynamic balancing.
a) b)
The quadrupedal design is characterized by presence of
sufficient number of legs to hold body in stable position Figure 1: Kaleid Friends Robot
without use of special equipment.
Among all mobile robots, four-legged robot is legged robot
that is superior to wheeled and crawler robots due to its ability
to explore any terrain like human and an animal.
Most robotic leg designs are either based on biomimetic
human or animal leg morphology or mechanically optimized
for specific task.
The basic characteristics used in walking robots is:
- design of limbs;
- number of degrees of freedom per 1 leg;
- number of servos;
- orientation in space;
Figure 2: Ameca robot from Engineered Arts
- adaptability;
- possibility of installing additional sensors.
Robot has perfect humanoid body. Which over time will
Among main parameters of walking robots, most important have perfect humanoid artificial intelligence. The body of
is type of walking, which determines other parameters such as: robot is modular platform. Robot has universal appearance
stability, number of limbs, limb configuration and proportions, without gender and age. Ameca – robot with live facial
as well as control method, moment of inertia and torque. expressions
4. OVERVIEW OF INNOVATIVE WALKING ROBOTS Ameca application: sort data from sensors and encoders,
motors, network traffic, video streams, physical conditions and
One of 2022 novelties is robot with bipedal design from
respond to them in time.
Kawasaki – Kaleid Friends fig. 1 [28], [29]. Kaleid Friends
parameters: height 168 centimeters and weight 54 kilograms. At moment, Ameca is equipped only with head and arms.
The robot is stable not only on straight legs, but also half-bent.
The maximum walking speed is 3 km/h. The carrying capacity One of most interesting and unusual novelties in field of
of Kaleid Friends is up to 10 kilograms. The robot is battery WR 2022 is Bex (Kawasaki). The unusual thing is that it is
operated. The peculiarity of such robot is that robot can robotic goat capable of moving over rough and mountainous
terrain with steep slopes, and when the robot enters plain with
“predict” positions that are unstable for itself and adapt to them
smooth road, it transforms and moves on wheels built into its
in order to maintain stability in real time.
knees (fig. 3) [31].
Such robot will be used for entertainment, for example,
caring for sick and elderly. Bex has: legs, wheels, horns, saddle and handlebars. It is
successor to humanoid platform Kawasaki of Kaleid series.
Let's focus on another innovation in field of robotics –
The Bex robot has quadrupedal design and wheels on its
bipeadal Ameca robot from Engineered Arts, endowed with
knees (fig. 3, b).
artificial intelligence robot, is most realistic humanoid robot in
world (fig. 2) [30]. Ameca is considered face of robotics of Robot is capable of carrying any load up to 100 kg, and it
future. can even be person. At same time, robot can be controlled by
person himself or in automatic mode according to programmed

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International Journal of Academic Engineering Research (IJAER)
ISSN: 2643-9085
Vol. 6 Issue 4, April - 2022, Pages:3-7
program. During transportation of person, small saddle and Device is made of aluminum alloy and fiberglass, which
levers are provided that act as reins. provide it with lightness and strength. There is hole for switch
and regulator on case.
It is 18 DOF hexapod, adopts 20 CH servo controller, can
control 20 servos at same time.
Device parameters: 31*24*16.5 cm.
Spider robot is controlled by remote control.
5. CONCLUSION
The paper provides an overview of main types of walking
robots structures, body shapes and types of movers, it is
determined that body with joints is most often an oblong shape,
a)
consisting of movably connected parts.
Such circuit has advantages of one-piece circuit and
improved ability to overcome obstacles. At same time, design
becomes more complex, which requires additional
calculations, and additional articulation elements (mounts,
hinges and drives) increase mass and power consumption.
Anthropomorphic bipedal robots are considered most
spectacular, but not most practical, sometimes robots are more
stable, for example, on 4 legs.
There are many designs of WR, but today they strive to
b) ensure that robots have property of adapting to arbitrary
Figure 3: Robo-goose Bex topology of surface on which they move.
Thus, on basis of review, classification of main types of
walking robots structures, body shapes and types of propulsion
The Bex robot can be used at construction site; at industrial units of WR is given; main parameters and areas of walking
enterprises for movement of goods and inspections; in fields robots application are determined.
for transport of crops; can stream video from its cameras on its
head. The paper considers novelties in robotics: bipedal robot,
which is most realistic of Ameca's humanoid robots; bipedal
Management: direct thanks to steering wheel and remote robot Kaleid Friends, as well as an innovative robot with 4
using remote control. limbs Bex (Kawasaki) and 6 – Robtics Six-legged Spider.
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Vol. 6 Issue 4, April - 2022, Pages:3-7
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