Two-legged walking robot prescribed motion on a rough cylinder

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

doi:10.1063/1.5034589

Cited by 10 publications

(5 citation statements)

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“…Further problem of reactions distribution ̃ in some fixed point of time is investigated by the proposal that force ̃ is acting at the point and force moment there is zero. Motion equations (1) for finding reactions of walking robot body arms and legs prescribed motion can be transformed [10]: ∑̃= −̃, ∑̃×̃= −̃×̃.…”

Section: Resultsmentioning

confidence: 99%

“…It contains a straight line segment corresponding to equal angles, the robot rests from above, on a straight line parallel to the axis of the cylinder, satisfying the restriction on deviations from the direction of the force. The indicated segment on the graphs disappears when equal to 0,9 for α equal to /4, and when increasing , later, when 4 /9 [9], [10]. This corresponds to the fact that the cylinder begins to slide in the grip of the robot with two fulcrum.…”

Section: Resultsmentioning

confidence: 99%

“…where The boundaries between different regimes can be determined analytically. For example, in the case of significant friction when < 0, the solution exists, and can be obtained analytically [10], as shown in Fig 2 . Note that in this case it is limited to the range − 1 ≤ 2 . In contract to this behavior, for ≥ 0 there is no such restriction and an additional step is required to address the question of the existence of the solution.…”

Section: Resultsmentioning

confidence: 99%

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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: 99%

Section: Resultsmentioning

confidence: 99%

Section: Resultsmentioning

confidence: 99%

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Three-legged Walking Robot on a Fragile cylinder

Golubev¹,

Melkumova²

2019

DAAAM Proceedings

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“…The work on modeling multilink rod systems with hinges based on the Appell equations [16,18] is devoted to the issues of the optimal control of robots and elastic manipulators. In [19], the gaits of a robot…”

Section: Review Of Work By Domestic Authorsmentioning

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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“…It corresponds to the robot beginning sliding down the cylinder. 15 When x equals to 1, 1 for α equals π/3 in three-dimensional fields observed bundles of separate points. That means that the point C altitude position more harsh change while changing the angles.…”

Section: A Four-finger Graspmentioning

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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Two-legged walking robot prescribed motion on a rough cylinder

Cited by 10 publications

References 1 publication

Three-legged Walking Robot on a Fragile cylinder

Three-legged Walking Robot on a Fragile cylinder

On Mathematical Modeling of the Dynamics of Multilink Systems and Exoskeletons

A four-legged climbing robot on a fragile cylinder

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