Dynamic modeling analysis of a spider monkey robot

Kuo, Chih-Tien; Li, Wen-Yung; Wang, Yu‐Hsun; Lin, Pei-Chun

doi:10.1109/aris.2017.8297197

Cited by 2 publications

(1 citation statement)

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“…There are works devoted to the study of individual limbs of a spider-robot. In [6] the adhesion of the limb to the surface is studied; in [7], [8], [9] and [10] they model a limb based on data obtained from living spiders; in [11], researchers use a spring-loaded inverted pendulum model as a limb mechanism, which allowed them to imitate walking, 43 running and jumping; and in [12] the results of the development of the limb of the arachnid monkey are given. The articles [13] and [14] provide solutions to the inverse kinematic problem.…”

Section: Designing a Spider-robotmentioning

confidence: 99%

Mathematical Model of a Robot-spider for Group Control Synthesis: Derivation and Validation

Kravchenko,

Efremov,

Zhilenkov

et al. 2023

Journal of Robotics and Control

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A six-legged spider robot is a complex object from the point of view of the problem of synthesizing a system for controlling its movement. To synthesize an advanced control system for such a robot, which must solve non-trivial problems of overcoming obstacles, functioning under conditions of external disturbances, etc., we first solve the problem of synthesizing an information model of the object, on the basis of which its control system will subsequently be built.The paper compares two methods for synthesizing the information model of a six-legged spider-robot. In the first method, an information model is automatically synthesized from a CAD model of a spider-robot in a MATLAB-based graphical programming environment Simulink. In the second method, the information model is synthesized in the environment of dynamic modeling of technical systems SimInTech on the basis of a system of differential equations in the Cauchy form. Control loops and external influences are added to the information models synthesized in each of the modeling environments. The study showed that each of the resulting models has both its own individual advantages and disadvantages. They are mainly related to taking into account the mutual influence of various blocks of models on each other. It is shown that, in the end, the two models complement each other and make it possible to obtain an advanced basis for further synthesis of the motion control system.The results obtained in this work make it possible to use information models as a basis for the development of a control system for a physical model of a six-legged spider-robot, printed on a 3D printer and assembled on the basis of the Arduino hardware platform.

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