Bringing an Insectomorphic Robot to a Normal Position from an Abnormal Upside Down Position

Golubev, Yu. F.; Koryanov, V. V.; Melkumova, E.V.

doi:10.1134/s1064230719060054

Cited by 10 publications

(1 citation statement)

References 4 publications

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“…The results also apply to the manipulation of the cylinder by gripping the robot arm. In [20][21][22], the movements of the six-legged robot are simulated and control issues are considered. Computer simulation of the controlled movements of multilink robots is carried out using the Universal Mechanism software package.…”

Section: Main Directions Of the Use Of Exoskeletons In Medicinementioning

confidence: 99%

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

Borisov

Kaspirovich

Mukharlyamov

2021

J. Comput. Syst. Sci. Int.

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A review of well-known publications is given and some results of the authors' research on modeling the dynamics of systems of rigid bodies and exoskeletons are presented. Various approaches to the problem of modeling the dynamics of multilink systems are described, including the problems of constructing equations of motion and solving control problems. Matrix and recurrent methods of composing equations for the dynamics of anthropomorphic mechanisms and exoskeletons, as well as problems of modeling flat and spatial systems containing links of variable length, are considered. The results of the research on the analytical design of exoskeletons, anthropomorphic mechanisms, and their analogs seem to be relevant for the design of systems designed to enhance human motor functions and the development of robotic systems for various purposes.

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Section: Main Directions Of the Use Of Exoskeletons In Medicinementioning

confidence: 99%