Optimization of the Walking Robot Parameters on the Basis of Isotropy Criteria

Many authors proposed various criteria and concepts to assess manipulability of the robotic system. The isotropy criterion is used by other authors for synthesis of parallel manipulators, as a criterion of optimal force and transfer in all directions. In this research we applied this method for the first time for investigation and synthesis of turning mechanism of a walking robot. Isotropy conditions were derived for the walking robot with orthogonal-type propellers and on its basis the optimal configurations of the robot in terms of force and motion transmission are defined. Solutions of the isotropy equations were found and on the basis of the analysis of isotropic solutions, optimal metric parameters of the robot were found. An experimental prototype of the legged robot is developed.