Flipping the Walking Robot to the Working Position from the Emergency 'Upside Down'
Abstract:
It is shown that the Autonomous rescue of a six-legged machine from an emergency position “upside down” 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. A method is proposed of rocking the body, which provides a flipping of the body and the return of the robot to the operating position. An analytical study and computer simulation of the full dynamics of the robot were fulfilled which confirmed the effectiveness of the developed technique for restore the functional capability of the robot. The results of numerical experiments and corresponding video materials are presented.
Keywords:
six-legged robot, emergency, flipping of the robot's body, rocking
