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METHOD OF RESCUING A SIX-LEGGED ROBOT FROM AN EMERGENCY POSITION ON AN UNEVEN SURFACEтезисы доклада
- Авторы: Golubev Yu F., Koryanov V.V., Melkumova E.V.
- Сборник: L International Conference “Advanced Problems in Mechanics”, June 20-24, 2022, APM, BOOK OF ABSTRACTS
- Тезисы
- Год издания: 2022
- Место издания: St. Petersburg, Russia, http://apm-conf.spb.ru/wp-content/uploads/2022/06/Abstracts_APM_2022.pdf
- Первая страница: 51
- Последняя страница: 51
- Аннотация: A method of rocking of the six-legged robot to ensure its overturn from the “upside down” position is proposed. As a support, we consider an inclined plane with a slight slope towards the flip, with a pit and optionally with a bump next to it. The position of the fixed support can be set by sequential rotations around two different axes. It is shown that the overturn is possible with the help of cyclic movement of the legs, if the body has an upper shell in the form of a truncated cylinder. The legs on the pre-chosen edge of the body through which the flip should occur, are passive, and straightened along the body so that they do not interfere with the flip. The legs on the opposite edge are active; they perform synchronous movement in a plane perpendicular to the longitudinal axis of the body, with a fixed angle in the knee. The results of simulation of the full dynamics of the robot in contact with the support by means of the “Universal mechanism” software package [1] are presented. Specifics of swinging due to the slope, the pit and the bump are shown. For a typical set of robot parameters, the results of numerical experiments for pits of approximately the largestadmissible sizes in cases where the support surface is rotated around one axis, around two axes, and for different types of pits, deep and shallow. In all cases, there is a bump next to the pit.The results of computer simulation testify to the fundamental feasibility of the proposed robot control algorithm, and develop the results presented in previous papers regarding the construction of algorithms for controlling robot behavior in extreme situations using computer experimentation methods. The algorithms proposed in this work were verified using computer simulation in a software environment implementing the computation of the interaction of the complete three-dimensional dynamic model of the system consisting of the robot interacting with the support [2-4]. The analyticalanalysis of a simplified dynamics of the system helped find constraints on the application of the proposed method due to geometric and mass characteristics of the robot design [4]. The specifics of swinging due to the slope, the pit and the bump were worked out using computer simulation and are presented. References:[1] Universal mechanism. Modeling the dynamics of mechanical systems, http://www.umlab.ru, last accessed:2020/10/02.[2] Golubev Yu.F., Koryanov V.V., Melkumova E.V. Rescue of the Walking Robot from an Emergency Position on theBack in the Presence of Interference. In the collection of 1st All-Russian Conference with International Participation“Biomechatronic Systems: Problems, Theory, Technologies”. Proceedings, abstracts, pp. 9-12.[3] Golubev Yu.F., Koryanov V.V., Melkumova E.V. Flipping the Walking Robot to the Working Position, 25thInternational Congress of Theoretical and Applied Mechanics, 22-27 August 2021. Abstract Book, Milano, Italy, pp.2080-2081.[4] Golubev Yu.F., Koryanov V.V., Melkumova E.V. Six-Legged Robot Overturn from an Emergency Position on theBack Under the Influence of Hindrance, Chugo D., Tokhi M.O., Silva M.F., Nakamura T., Goher K. (eds) Robotics forSustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol. 324, Springer Cham, pp. 192-202.DOI: 10.1007/978-3-030-86294-7_17.
- Добавил в систему: Мелкумова Елена Вадимовна