Some Structural and Kinematic Characteristics of Micro Walking Robots

  • Adr. ComanescuEmail author
  • I. Dugaesescu
  • D. Comanescu
Conference paper
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 30)


The micro-robots are generally characterized by reduced dimensions and a mono-mobile mechanical structure. This includes mechanisms acted by a single motor and consequently one input and multiple outputs. Such micro-robots have a fixed displacement strategy. Their structure may include mechanisms with bars or complex ones with gears, cam and bars. The systems may be equipped with various types of sensors such as tactile, proximity, sound and light ones.


Fixed sequence robot Walking micro-robot Structure modeling Kinematic modeling Complex micro mechanism 


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  3. Comanescu A, Comanescu D, Dugaesescu I, Ungureanu LM (2013) Chapter 21: Optimal inverse models for bi-mobile mechanisms of walking robot legs. In: DAAAM international scientific book 2013. DAAAM International Publishing, Vienna, pp 417–430. doi: 10.2507/daaam.scibook.2013.21.

Copyright information

© Springer International Publishing Switzerland 2015

Authors and Affiliations

  1. 1.Department of Mechanisms and Robots TheoryUniversity Politehnica of BucharestBucharestRomania

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