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Rescuing a six-legged robot from an emergencyon an uneven surfaceстатья
- Авторы: Golubev Yu F., Koryanov V.V., Melkumova E.V.
- Журнал: Инженерный журнал: наука и инновации
- Год издания: 2022
- Издательство: МГТУ им. Н.Э. Баумана
- Местоположение издательства: Москва
- Первая страница: 235
- Последняя страница: 235
- DOI: 10.18698/2308-6033-2022-5-2182
- Аннотация: A method of rocking a six-legged robot using cyclic leg movements is proposed, which ensures the body flip and returns the robot to the working position from the upside-down position. It is shown that the overturning of the robot is possible if the body has an upper shell in the form of a truncated cylinder. The variants of rocking in the presence of an inclination of the support surface, as well as a pit and a bump in the contact area are considered. The inclination can be set by a combination of rotations around different axes. Computer simulation is performed using the "Universal Mechanism" software package.
- Добавил в систему: Мелкумова Елена Вадимовна