Footholds admissible areas structure of a two-legged walking robot on an inclined cylinder

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

doi:10.1088/1757-899x/468/1/012003

Cited by 5 publications

(2 citation statements)

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“…This corresponds to the fact that the cylinder begins to slide in the grip of the robot with two fulcrum. Valid areas for α= /3; = 1,1 built in works [12], [13], [14].…”

Section: Resultsmentioning

confidence: 99%

Three-legged Walking Robot on a Fragile cylinder

Golubev¹,

Melkumova²

2019

DAAAM Proceedings

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We consider the walking robot with tree legs, where each leg contacts the surface of the fragile cylinder in a single foothold. Given the motion of the robot's legs with respect to its body, we solve the problem of finding the reaction forces, both analytically and numerically. The first step in solving similar problem belongs to N.Y.Zhukovsky. We describe the robot motion in terms of the general dynamics theorems, with six different equations of the robot's dynamics from the momentum and angular momentum theorems. In the special case a robot with three legs, the existence of the solution is related to a set of straightforward inequalities. Using numerical simulations we develop the classification of footholds positions for different values of the friction coefficient. This problem equivalent to the problem of curved object grasping by the fingers of the robot-manipulator. Each leg contacts the cylinder in a single supporting point with Amontons-Coulomb friction. There is an analogy of the equilibrium of a robot on a cylinder for the problems of transfer by a manipulator of a fragile cylinder or for robot which legs suspension points are on the cylinder. Two supporting points can be on one diameter in the cylinder base.

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“…This corresponds to the fact that the cylinder begins to slide in the grip of the robot with two fulcrum. Valid areas for α= /3; = 1,1 built in works [12], [13], [14].…”

Section: Resultsmentioning

confidence: 99%

Three-legged Walking Robot on a Fragile cylinder

Golubev¹,

Melkumova²

2019

DAAAM Proceedings

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“…The same inequalities are for walking robot on the cylinder. 13 If the grasp is out the cylinder this inequalities (3) have opposite signs.…”

Section: The Problem Of Climbing the Cylindermentioning

confidence: 99%

A four-legged climbing robot on a fragile cylinder

2020

Robots in Human Life

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The problem of the equilibrium of a multi-legged walking robot on the surface of a brittle straight circular rough cylinder is investigated. Each of the legs has one point in contact with the cylinder with Amonton-Coulomb friction and for two support points, with rolling friction. Numerically and analytically obtained possible regions of contact points on the cylinder for which there is a solution to the kinetostatics problem on the cylinder. This task has analogies to the problems of holding a cylindrical object by the fingers of a robot arm or a robot resting on an arbitrary surface, the legs of which are suspended on the body on the surface of the cylinder. The robot can climb on the cylinder with two legs located on the same diameter at the base of the cylinder. And due to dry friction with four legs located on opposite sides from the robot center of mass or point C introduced into the dynamics. The oscillations of the cylinder on the cylinder in the vicinity of a stable equilibrium position serve as an analogue of the problem. The cylinder lies on one finger of the hand of a humanoid robot perpendicular to it, adheres to the ends of the other three fingers. Similarly holds a glass.

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Theoretical Basis of the Mechanism of Synchronous Rotation in Reverse Phase

Dragunov

2022

Lecture Notes in Mechanical Engineering

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Footholds admissible areas structure of a two-legged walking robot on an inclined cylinder

Cited by 5 publications

References 1 publication

Three-legged Walking Robot on a Fragile cylinder

Three-legged Walking Robot on a Fragile cylinder

A four-legged climbing robot on a fragile cylinder

Theoretical Basis of the Mechanism of Synchronous Rotation in Reverse Phase

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