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Stepping over obstacles of maximum width by a multi-legged insectomorphic robot
- Authors: Golubev Y.F.1, Koryanov V.V.1
-
Affiliations:
- Keldysh Institute of Applied Mathematics, RAS
- Issue: No 2 (2025)
- Pages: 140-165
- Section: РОБОТОТЕХНИКА
- URL: https://medjrf.com/0002-3388/article/view/684535
- DOI: https://doi.org/10.31857/S0002338825020106
- EDN: https://elibrary.ru/ASSOLV
- ID: 684535
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Abstract
The problem of the maximum width of the zone forbidden for stepping, which an n-legged robot can overcome in the static stability mode, is solved. For the six-legged and four-legged robots, the footprints sequences of the robot’s feet placement that ensure the achievement of the value of the maximum zone width are specified. The results of computer simulation are given.
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About the authors
Yu. F. Golubev
Keldysh Institute of Applied Mathematics, RAS
Author for correspondence.
Email: golubev@keldysh.ru
Russian Federation, Moscow
V. V. Koryanov
Keldysh Institute of Applied Mathematics, RAS
Email: korianov@keldysh.ru
Russian Federation, Moscow
References
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- Охоцимский Д.Е., Голубев Ю.Ф. Механика и управление движением автоматического шагающего аппарата. М.: Наука. Глав. ред. физ.-мат. лит., 1984. 312 с.
- Эволюция роботов Boston Dynamics. URL: https://www.youtube.com/watch?v=t3hPckJCx9s (дата обращения: 15.03.2022).
- Голубев Ю.Ф., Корянов В.В. Экстремальные локомоционные возможности инсектоморфных роботов. М: ИПМ им. М.В. Келдыша, 2018. 212 с. ISBN 978-5-98354-040-8. https://doi.org/10.20948/mono-2018-golubev
- Филиппов А.П. Колебания деформируемых систем. Изд. 2-е перераб. М.: Машиностроение, 1970. 736 с.
- Голубев Ю.Ф., Корянов В.В. Преодоление шагающим роботом препятствий, характерных для равнины // Препринты ИПМ им. М.В.Келдыша. 2024. № 21. 35 с. https://doi.org/10.20948/prepr-2024-21, https://library.keldysh.ru/preprint.asp?id=2024-21
- Универсальный механизм. Моделирование динамики механических систем. URL: http://www.umlab.ru (дата обращения: 10.03.2020).
- Golubev, Yu.F. Getting over Wide Obstacles by a Multi-Legged Robot. ISSN 1064-5624 // Doklady Mathematics, 2024. https://doi.org/10.1134/S1064562424601136
Supplementary files
Supplementary Files
Action
1.
JATS XML
2.
Fig. 1. Angular coordinates of the robot: a – front view, b – top view.
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Fig. 2. Standard position of the SHA in front of an obstacle.
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Fig. 3. Initial stage.
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5.
Fig. 4. Transfer of the hind legs.
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Fig. 5. Transfer of the middle legs.
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Fig. 6. Transfer of the front legs with simultaneous advancement of the body.
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Fig. 7. Movement of the body after placing the front legs.
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Fig. 8. Transfer of the hind legs.
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Fig. 9. Transfer of the middle legs with the advancement of the body.
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Fig. 10. Shift of the body, then transfer of the hind legs, then the middle legs.
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Fig. 11. Shift of the body and simultaneous transfer of the front legs.
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Fig. 12. Stepping with middle legs to the edge of the obstacle zone.
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Fig. 13. Starting position for moving the middle legs over the obstacle.
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Fig. 14. Symmetrical position.
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Fig. 15. Width of the obstacle clearance zone.
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Fig. 16. Initial position in front of the obstacle.
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Fig. 17. Moving the body forward.
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Fig. 18. Alternate transfer of the hind legs.
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Fig. 19. Transfer of the right front leg to the rear edge of the obstacle.
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Fig. 20. Moving the body forward.
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Fig. 21. Moving the second leg forward.
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Fig. 22. Returning the body back.
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Fig. 23. Transferring the fourth leg to the back side of the obstacle.
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25.
Fig. 24. Moving the body and then transferring the second leg.
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26.
Fig. 25. The position of the model corresponding to the diagram in Fig. 4.
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27.
Fig. 26. Transfer of the front legs with simultaneous advancement of the body.
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28.
Fig. 27. Stepping with middle legs.
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Fig. 28. State of readiness for transfer of middle legs.
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Fig. 29. Preparing to move the hind legs over the obstacle.
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31.
Fig. 30. The robot passed over the obstacle.
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Fig. 31. The robot moved its front legs to the rear edge of the obstacle.
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33.
Fig. 32. Position after the first wave of leg transfers.
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Fig. 33. Feet of the middle legs at the front edge of the obstacle.
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35.
Fig. 34. Beginning of transfer of middle legs over the obstacle.
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Fig. 35. ε-balanced pose.
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Fig. 36. The obstacle is overcome.
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