Extreme locomotion capabilities of insectomorphic robots
Abstract:
The problem of designing and realizing the motion of an autonomous insectomorphic robot on obstacles of an increased level of difficulty is investigated. It is assumed that the robot does not have special devices in the feet, and can only use the force of Coulomb friction for maneuvers. The aim is to identify the extreme capabilities of such robots for specific examples of isolated obstacles and obstacles that are integrated into the training strip. Effective algorithms for shaping the movement of the robot are proposed, which ensure reliable performance of the corresponding motion tasks. The results of computer simulation of the full dynamics of the robot and its environment, demonstrating the operability of the described algorithms, as well as video materials illustrating the process of overcoming complex obstacles are presented. The book is intended for specialists in the development of robotic systems, graduate students and students.
Keywords:
insectomorphic robot, full dynamics, Coulomb friction, combination of obstacles
