Bringing an Insectomorphic Robot to a Normal Position from an Abnormal Upside Down Positionстатья
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Дата последнего поиска статьи во внешних источниках: 28 февраля 2020 г.
Аннотация:It is shown that if a robot’s body has an upper shell in the shape of a truncated cylinder, then
a six-legged insectomorphic robot can autonomously bring itself to a normal position from an abnormal
upside down position using a cyclic leg motion. A method for rocking the robot that helps it to
turn itself over to the normal position is proposed. An analytical analysis and computer simulation of
the complete robot dynamics are performed, which confirm the effectiveness of the proposed method
of recovering the normal position of the robot. The results of numerical experiments are presented.