2- Motors Bipedal Robot using Hoekens Linkages

2- Motors Hoekens Linkage Bipedal Robot

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Hoekens linkage bipedal Robot is constructed and realized. The Bipedal mechanism is realized using two Hoeckens linkage on both sides (for two foots). We propose a new mechanism with vertical arrangement of Hoekens linkage. We use only one motor for one leg. The movement of Robot foot is similar to one of human's foot. It can be used for stroke rehabilitations. The calculation of movement is prodused. Scheme and code is attached.

We designed and constructed middle-size bipedal 2- motor walking robot.
1. A method for calculating the dynamics of the mechanisms of bipedal movement  with arbitrary 4-linkages mechanisms  has been developed.
2. The method allows to calculate all the necessary movement parameters for the construction. To verify the calculations, the models of the Hoeken mechanism and the 4- linkages mechanism designed to draw trajectories on millimeter paper were designed and made.
3. The mechanism of Hoeken and the Chebyshev   are considered.
4. A modification of the movement mechanisms is proposed, which allows to significantly increase the efficiency of bipedal movement, and also significantly reduce the loads on the elements of the mechanism and the required power of the drive motor.
5. It is shown that the proposed modification allows to reduce the impact speed practically  to zero with the change of the supporting leg, which is extremely important for complex and easily destructible soils (especially disturbance of the tundra ecosystem).
6. A functional, block diagram and a basic diagram of the robot platform have been developed. Based on the theoretical study of the model, a control algorithm is created, and based on the algorithm, the code is written in the Arduino ide.
7. The model of the bipedal platform is assembled, the test is conducted, the algorithms for controlling the power elements of the platform are tested.
8. On the basis of mathematical and model modeling a prototype is constructed with the following parameters: -effectiveness of movement - lifting of the center of gravity does not exceed 0.5% of the traveled path The maximum torque required for motion is less than 0.01 of the product of weight by the step length -relative speed of supports during the change of legs is reduced to zero.


The Calculation of bipedal walking. Models, formulas, graphs adn experimental models.

Adobe Portable Document Format - 1.14 MB - 07/24/2017 at 01:09



Video. Bipedal bimotor Robot takes a walk.

x-ms-wmv - 14.86 MB - 07/23/2017 at 23:05



Arduino IDE code for BiPedal Robot

ino - 7.90 kB - 07/23/2017 at 23:00


  • 1 × Arduino Uno Controller
  • 1 × Monster Moto VNH2SP30 Double H- Bridge
  • 1 × RF Remote IC2272
  • 1 × RF Receiver IC2272
  • 2 × DC Encoder Motor GW370 80 rpm

View all 10 components

View all 2 project logs

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Radomir Dopieralski wrote 07/24/2017 at 10:07 point

Thanks for the video, it would however be much more convenient if you uploaded it to some service that allows streaming, such as YouTube or Vimeo, so that we don't have to download the whole thing to see it.

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Sergei V. Bogdanov wrote 07/24/2017 at 12:07 point

Thank You. It will be done in 5 minutes

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Sergei V. Bogdanov wrote 07/24/2017 at 12:30 point

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Sergei V. Bogdanov wrote 07/23/2017 at 22:53 point

The video will be downloaded in two hours.

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Dan DWRobotics wrote 07/23/2017 at 00:44 point

One motor for each leg on a biped? Sounds interesting. Do you have a video of the prototype? I'm struggling to get how it can do that.

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Sergei V. Bogdanov wrote 07/24/2017 at 00:37 point

The video is downloaded  to Files

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Sergei V. Bogdanov wrote 07/24/2017 at 12:30 point

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