ROMANSY 11 pp 189-196 | Cite as

Mechanical Design of an Anthropomorphic Electropneumatic Walking Robot

  • G. Figliolini
  • M. Ceccarelli
Part of the International Centre for Mechanical Sciences book series (CISM, volume 381)


Anthropomorphic walkers have been recognised as versatile walking systems although their mechanical structures may be very complex. In this paper we report a mechanical design which has been developed at the Laboratory of Robotics of the University of Cassino with the aim to construct a prototype for an anthropomorphic walking robot with low-cost and easy-running components. The proposed mechanical solution with an electropneumatic actuation is illustrated and basic design characteristics are discussed mainly looking at the walking stability.


Mechanical Design Quadruped Robot Pneumatic Cylinder Flat Plane Walking Robot 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • G. Figliolini
    • 1
  • M. Ceccarelli
    • 1
  1. 1.University of CassinoCassinoItaly

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