Prescribed motion of a two-legged walking robot on a rough cylinder

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

doi:10.1109/stab.2016.7541184

Cited by 3 publications

(2 citation statements)

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“…These graphs supplement and summarize the results obtained [5], [6]. For robot finger configurations symmetrical about a point С along the axis of the cylinder, three cases with a non-negative coefficient are considered for the distance between the point С and the reference points: 0,9 , 1 and 1,1 for and equal 1, α from 0 to (all 14 different values of the angle of the cylinder) [7], [8]. Areas of existence of a solution to the problem of the distribution of reactions on the plane of two angles corresponding to the projections of the support points on the base of the cylinder and three-dimensional regions complementary to the indicated plane of the applicated point С are constructed.…”

Section: Resultsmentioning

confidence: 70%

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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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Section: Resultsmentioning

confidence: 70%

“…In [7] investigated the conditions of static stability walking robot on a perfect inner surface horizontal cylinder. In [8] the problem was considered for a rough horizontal cylinder, provided that there are no components of the reactions along the generatrix of the cylinder.…”

Section: Introductionmentioning

confidence: 99%

Three-legged Walking Robot on a Fragile cylinder

Golubev¹,

Melkumova²

2019

DAAAM Proceedings

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Transfer by a Manipulator with a Three-finger Grasp of a Brittle Cylinder

Golubev

Melkumova

2019

MFS

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We consider the problem of the brittle cylinder grasping by the n fingers of the robot-manipulator. Each finger contacts the cylinder in a single supporting point with Amontons-Coulomb or for two footholds spinning friction. Using numerical simulations and analytically, possible locations of contact points on the cylinder, for which there is a kinetostatics problem solution when the cylinder is moved by three fingers, are received. By the analogy of the equilibrium of a three-legged robot on a cylinder for the problems of transfer by a manipulator with a three-finger grasp of a cylinder or for a robot on a surface which legs suspension points are on a cylinder surface. Two supporting points can be on one diameter in the cylinder base. Or because of friction on the opposite sides of the robot center of mass or giving in the dynamics, it is point C. The analogy of the problem is oscillations in the vicinity of the stable equilibrium one cylinder on another. The cylinder lies on one finger rectangular to it, of the hand of a hu-manoid robot, adheres to the end of the other finger. Similarly holds the glass. Robot can hold the horizontal cylinder by three fingers. Let one of the points is in vertical plane containing cylinder axis and another are in the plane orthogonal to the axis. The supporting points are on the external surface of the lower semi-cylinder and the cylinder center mass is in the footholds triangle. The supporting set is divided into two subsets.

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Manipulator Operating with the Two-finger Grip for Fragile Cylinders

Golubev¹,

Melkumova²

2019

DAAAM International Scientific Book 2019

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There is an analogy of the equilibrium of a robot on a cylinder for the problems of transfer by a manipulator of a rough cylinder or for robot which legs suspension points are on the cylinder surface. For the cases of one, two and three supporting points the motion equations are different. The difference between the grip and walking robot is in the sign of inequalities due to unilateral constraint. Two supporting points can be on one diameter in the cylinder base. Or because of friction on the opposite sides of the robot center of mass or giving in the dynamics, point C. The analogy is oscillations in the vicinity of the stable equilibrium one cylinder on another. The cylinder lies on one finger rectangular to it, of the hand of a humanoid robot, adheres to the end of the other finger. Similarly holds a glass.

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Prescribed motion of a two-legged walking robot on a rough cylinder

Cited by 3 publications

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Three-legged Walking Robot on a Fragile cylinder

Three-legged Walking Robot on a Fragile cylinder

Transfer by a Manipulator with a Three-finger Grasp of a Brittle Cylinder

Manipulator Operating with the Two-finger Grip for Fragile Cylinders

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