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Rescuing a Six-Legged Walking Robot From an Emergency on an Uneven Surfaceстатья
- Авторы: Golubev Yu F., Koryanov V.V., Melkumova E.V.
- Сборник: УСТОЙЧИВОСТЬ И КОЛЕБАНИЯ НЕЛИНЕЙНЫХ СИСТЕМ УПРАВЛЕНИЯ (конференция Пятницкого) Материалы XVI Международной конференции
- Год издания: 2022
- Место издания: Москва ИПУ РАН
- Первая страница: 145
- Последняя страница: 145
- Аннотация: A method of rocking a six-legged robot using cyclic leg movementsis proposed, which ensures the body flip and returns the robot to theworking position from the upside-down position. It is shown that theoverturning of the robot is possible if the body has an upper shell in theform of a truncated cylinder. The variants of rocking in the presence ofan inclination of the support surface, as well as a pit and a bump in thecontact area are considered. The inclination can be set by a combinationof rotations around different axes. Computer simulation is performed usingthe “Universal Mechanism” software package.
- Добавил в систему: Мелкумова Елена Вадимовна