In this article, we analyzed statically and dynamically stable gaits, as well as methods for their effective implementation in autonomous walking machines. At first, the structures of existed robots were studied. As a result, it was found that most of them are meant only for dynamically-stable gaits realization or only for statically-stable gaits realization. There are no hybrid prototypes able to use both kinds of locomotion effectively. The authors combine alsation skeleton and ant structure to offer a new possible kinematic scheme for a mobile robot that can realize inset gaits as well as locomotion methods of dog. It makes the machine adapted to various environmental conditions such as subsoil properties, terrain and others. It was proven that the six-legged model whose prismatic body is based on regular hexangular polygon exhibits a high level of maneuverability. Moreover, it is capable to implement a large number of statically-stable locomotion methods, because hexapods can use big quantity of regular subsequences of different leg movements. The kinematic scheme of the limb is based on the dog hind leg structure. It consists of three controlled by actuators joints and an uncontrolled joint with an installed shock absorber. In this way, the machine decreases shock stress during locomotion. Finally, the results of mass- dimensional calculation and calculation of the maximum load were presented.
Elementary design of locomotion robot realizing statically-stable and dynamically-stable gaits
XLIII ACADEMIC SPACE CONFERENCE: dedicated to the memory of academician S.P. Korolev and other outstanding Russian scientists – Pioneers of space exploration ; 2019 ; Moscow, Russia
AIP Conference Proceedings ; 2171 , 1
15.11.2019
6 pages
Aufsatz (Konferenz)
Elektronische Ressource
Englisch
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