The purpose of this work is to investigate the possibilities of climbing higher obstacles while maintaining the overall dimensions of a walking robot through design improvements and experiments. An original concept for the design of a walking robot with a minimum number of motors is presented. Geometric and force constraints for overcoming an obstacle and the conditions for maintaining static stability are determined. Experiments for overcoming a vertical obstacle are conducted with a 3D printed model. The 3D printed robot feet with different shapes and materials are used. The results of the experiments are presented graphically as a percentage of success against a baseline model. In this study, a dimensionless index to compare the height of the overcome obstacle and the dimensions of the robot is introduced. It allows to objectively compare the possibilities of overcoming obstacles between various types of mobile robots. Conclusions and guidelines for design improvements are made.

中文翻译：

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3D打印步行机器人改善攀爬障碍的分析与实验

这项工作的目的是通过设计改进和实验研究在保持步行机器人整体尺寸的同时爬上更高障碍物的可能性。提出了设计具有最少电机数量的步行机器人的原始概念。确定克服障碍物的几何和力约束以及保持静态稳定性的条件。克服垂直障碍的实验是使用 3D 打印模型进行的。使用了不同形状和材料的 3D 打印机器人脚。实验结果以图形方式显示为相对于基线模型的成功百分比。在这项研究中，引入了一个无量纲指标来比较克服障碍物的高度和机器人的尺寸。它允许客观地比较各种类型的移动机器人之间克服障碍的可能性。得出设计改进的结论和指导方针。