Dynamics of a Six-Legged Walking Vehicle in a Horizontal Semicylinder with Viscous Friction

Yu. F. Golubev, E. E. Selensky


Abstract: The dynamics of a six-legged walking vehicle in horizontal pipes with viscous friction is considered. The stability analysis of the robot's equilibrium positions on a smooth horizontal lower semi-cylinder is carried out. A statically stable gait using foothold triangles is generated. Results of the computer-aided simulation of the vehicle's motion are discussed.