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Rescuing a Six-Legged Walking Robot From an Emergency on an Uneven Surfaceстатья
Информация о цитировании статьи получена из
Scopus
Дата последнего поиска статьи во внешних источниках: 27 июля 2022 г.
- Авторы: Golubev Yu F., Koryanov V.V., Melkumova E.V.
- Сборник: 2022 16th International Conference on Stability and Oscillations of Nonlinear Control Systems (Pyatnitskiy Conference)
- Год издания: 2022
- Место издания: IEEE
- Первая страница: 1
- Последняя страница: 4
- DOI: 10.1109/STAB54858.2022.9807559
- Аннотация: We propose a method for rocking a six-legged walking robot in order to ensure its overturn from the upside-down position. An inclined plane with a slight slope towards the overturn is considered as a support. The position of the support is determined either by one rotation or by two sequential rotations around different axes. These rotations are part of the initial conditions, that is, during the motion of the robot, the support is stationary. In the contact area there may be a pit. There may be a bump near the pit. It is shown that overturning is possible with cyclic movement of the legs if the body has an upper shell in the form of a truncated cylinder. The legs on the pre-selected edge of the body over which the flip is to take place are passive, and are straightened along the body so as not to interfere with the rocking. The legs on the opposite edge are active, they perform synchronous movement in a plane perpendicular to the longitudinal axis of the body, at a fixed angle at the knee. Analytical research and a computer simulation of the full dynamics of the robot in contact with the support was fulfilled. Computer simulation was performed by means of the software package “Universal Mechanism”. The changes to be made in the rocking due to the presence of a pit and a bump are given.
- Добавил в систему: Мелкумова Елена Вадимовна