Abstract:
To solve the problem of rescuing a multi-legged robot from an emergency “upside-down” position, an original method was used to find optimal control of the oscillation amplitude in the vicinity of the equilibrium position for a scleronomic mechanical system with an underactuated one oscillatory degree of freedom. The control is realized by changing relative to the body of the robot the position of a specially selected group of legs. The effectiveness of the developed control algorithm is confirmed by the results of computer simulation of the full dynamics of the robot.
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