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KIAM Preprint № 21, Moscow, 2024
Authors: Golubev Y.F., Korianov V.V.
Overcoming obstacles typical for a flat terrain by a walking robot
Abstract:
An upper estimate of the maximum width of the forbidden zone for foot fulcrums, which a walking robot can overcome in static stability mode, is presented. Using the examples of six-legged and four-legged robot, it is shown that the obtained estimate can't be improved. For this purpose, the sequences of the robot's foot placement have been formed, ensuring the achievement of the estimation meaning. The results of computer modeling and video materials illustrating the process of overcoming an obstacle by a six-legged robot are presented.
Keywords:
walking robot, overcoming obstacles, computer simulation
Publication language: russian,  pages: 35
Research direction:
Theoretical and applied problems of mechanics
Russian source text:
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About authors:
  • Golubev Yury Filippovich,  orcid.org/0000-0002-2450-0224KIAM RAS
  • Korianov Victor Vladimirovich,  orcid.org/0000-0001-8657-722XKIAM RAS