Simulation strategies walking mechatronic system MERO

The performance of mechatronic systems mobile is closely related to the adopted gait. The movement of the mechatronic systems mobile can be divided in two modes: condition of the static stability; condition of the dynamic stability. The loss of static or quasi-static stability may be produced in two cases, namely: the vertical projection of the gravity center is out of support polygon, one or more tangential components of reaction forces from support points are greater than the friction forces The movement of the walking robot under dynamical stability conditions may be realized when the forward average speed is greater than a certain limit. At "Politehnica" University of Bucharest was developed several modular walking robots. These walking robots have three or more modules (two feet). Each leg has three degrees freedom and a tactile sensor to measure the contact, which consists of smaller and higher levels. Platform system mechatronic walking MERO (MEchanism RObot) has a gyroscopic sensor to measure the wearing pitch and roll angles of the platform. Different methods of leg adjustments and body adjustments are integrated into the strategy. In the work are analyzed the possibilities of determination of the limit conditions for the stable displacement of the walking mechatronic system. Finally, this strategy is verified by using computer graphics simulations.