This article is cited in 1 paper

Mechanics

Walking robot's getting out from an emergency situation on its back

Yu. F. Golubev^ab, V. V. Koryanov^b, E. V. Melkumova<sup>a

a</sup> Lomonosov Moscow State University, Faculty of Mechanics and Mathematics
^b Keldysh Institute of Applied Mathematics of Russian Academy of Sciences, Moscow

Abstract: A method of swinging of the six-legged robot to ensure its overturn from the “upside down” position is proposed. As a support, we consider an inclined plane with a slight slope towards the flip, with a pit and optionally with a bump next to it. The support can be rotated sequentially around two different axes. It is shown that the overturn is possible with the help of cyclic movement of the group of legs, if the body has an upper shell in the form of a truncated cylinder. The swinging is performed by the legs on the edge of the body opposite to the one through which the flip is to occur. An analytical study of the model problem, and by means of the “Universal mechanism” software package the simulation of the full dynamics of the robot in contact with the support was performed. Specifics of swinging due to the slope, the pit and the bump are shown.

Key words: six-legged robot, flipping of the robot's body, rocking, uneven support.

UDC: 531.38

Received: 14.06.2024

DOI: 10.55959/MSU0579-9368-1-66-3-8

 English version: Moscow University Mathematics Bulletin, Moscow University Mеchanics Bulletin, 2025, 80:3, 120–128

Bibliographic databases:

•