# A Non-Anthropomorphic Bipedal Walking Robot with a Vertically Stabilized Base
## 8 Discussion and Plans for Further Research  
In this work, a biped walking robot (Figure 21) was designed based on a concept that envisaged the use of six actuators. Two rotary and two linear servomotors were designed to allow the robot to walk and the other two rotary actuators were used to change the direction of movement. The concept was based on a parallelogram that ensured a constant parallel relationship between the base and the robot's feet. The direct kinematics task was solved with the help of the created kinematic model of the robot, where the main points of the chain and the centers of gravity of the individual parts were assigned local coordinate systems. A possible additional device in the robot's base (manipulator, sensors, etc.) could also be included in the proposed kinematic chain. The direct kinematics problem was solved by considering the inclination of the plane in the direction of the robot's gait. Subsequently, the inverse kinematics equations were derived using the vector inverse transform method. The obtained data were used as the basis for the static walking simulations on straight and inclined pads, confirming the ability of the concept to overcome a rise or fall during tilting in the direction of walking. The stable configuration of the robot during the individual phases of the step was recalculated using programs created in the MATLAB environment, which were also used to recalculate the  
Figure 21: Designed biped robot with a vertically stabilized base. generalized coordinates needed to create a walking simulation. In the SolidWorks Motion environment, a step on a flat surface, a step on a surface with an 8\({}^{\circ}\) uphill slope, and the rotation of the robot were simulated. The results from the given simulations confirmed the fulfillment of the required criteria, such as maintaining a constant height for the robot's base and allowing adjustments of the height and the minimum inclinations, which significantly improved the conditions when adding additional equipment to the robot's base. The simulations also verified that the actuators used are suitable for this application. The adaptability of the presented model will depend not only on the structural concept of the model but also on the control method used. These problems will be solved in the near future, also directly on the experimental functional prototype. The aim of this work was first to use simulations to evaluate the usability and viability of this robot concept. Control issues will largely depend on the control method used and will be addressed in a separate paper. The energy efficiency of this principle was not solved in this work, but the simulations probably show the courses of moments and speeds of individual actuators, and on the basis of this information it is possible to assess the energy efficiency of this robot. An energy efficiency test will be determined experimentally on a functional prototype, which will be the subject of further research. The designed robot ensures the function of the gait itself and also allows the direction of movement to be changed. Therefore, the possibilities for further development of the robot are very wide and depend mainly on its future use. The submitted proposals for further research and development are listed below:  
* Implement a system for measuring the inclination of a plane consisting of an inertial measurement unit sensor containing gyroscopes and accelerometers. In this way, it will be possible to detect the inclination of the robot's base, which will be identical to the inclination of the plane thanks to the parallelogram, and to use this detected information to automatically correct the stability of the robot on an inclined plane [43];
* Use sensor equipment to move and navigate the robot in an unknown environment. Obstacle sensors may include an anti-collision ultrasonic sensor and an optical sensor. The determination of the orientation and position in space can be achieved by recording the distance traveled by the accelerometer.