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.


    Zugriff

    Zugriff prüfen

    Verfügbarkeit in meiner Bibliothek prüfen

    Bestellung bei Subito €


    Exportieren, teilen und zitieren



    Titel :

    Elementary design of locomotion robot realizing statically-stable and dynamically-stable gaits


    Beteiligte:
    Voevoda, N. N. (Autor:in) / Andreeva, E. V. (Autor:in) / Zelentsov, V. V. (Autor:in) / Lapin, D. V. (Autor:in) / Mikrin, Evgeny A. (Herausgeber:in) / Rogozin, Dmitry O. (Herausgeber:in) / Aleksandrov, Anatoly A. (Herausgeber:in) / Sadovnichy, Victor A. (Herausgeber:in) / Fedorov, Igor B. (Herausgeber:in) / Mayorova, Vera I. (Herausgeber:in)

    Kongress:

    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


    Erschienen in:

    Erscheinungsdatum :

    15.11.2019


    Format / Umfang :

    6 pages





    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



    190010 Elementary design of locomotion robot realizing statically-stable and dynamically-stable gaits

    Voevoda, N. N. / Andreeva, E. V. / Zelentsov, V. V. et al. | TIBKAT | 2019


    STATICALLY STABLE HEXAPEDAL WALKING ROBOT PLATFORM

    ROWLAND GOWAN / DEROS ANDREW / NAIL CONNOR et al. | Europäisches Patentamt | 2025

    Freier Zugriff


    Statically stable robot using wheel with inner system

    CALLEIJA MARK / SUKKARIEH SALAH | Europäisches Patentamt | 2019

    Freier Zugriff

    Statically stable robot using wheel with inner system

    CALLEIJA MARK / SUKKARIEH SALAH | Europäisches Patentamt | 2019

    Freier Zugriff