Comptes rendus de l’Acade'mie bulgare des Sciences, Vol 69, No8, pp.1057-1064

Walking Robot Realized Through 3D Printing

Ivan Nikolov Chavdarov


This paper presents a model of a walking robot with a minimum number of actuators, which is realized using a 3D printer. The robot has only two independently actuated mechanisms and a small number of moving parts. The extremely simple design is a prerequisite for low cost and high reliability of the robot, which has many advantages: moves through walking, turns in place - about an axis close to the center of mass of the robot, can move forward or backward, from standing position overcomes obstacles and slopes, can climb stairs tailored to its size, possesses some passive adaptivity to obstacles, and others. In this work a normalized space for the main dimensions of the robot is introduced that affects the most its movement and overcoming obstacles. The domain within this space is determined where it is possible for the robot to function. Suitable proportions for the dimensions are studied for overcoming either maximum steep slopes or high steps. Factors which influence the ability of the robot to move in rough terrain are analyzed. Possible ways to increase the adherence of the feet with the ground and to improve the passive adaptation of the robot to obstacles are investigated. Ideas, inspired by the living nature to improve the properties of the robot are presented.

Key words: mobile robot, optimal synthesis, 3D printing