Walking and wheel-walking robots

摘要

High cross-country ability and maneuverability are the major requirements for autonomous mobile robots intended for operation on unprepared surfaces (on the planets, in the forest), for liquidation of consequences of various accidents as well as for application in medical purposes. At present these requirements are mainly fulfilled due to the use of wheeled and tracked propulsive devices. At the same time much attention is paid to development of walking vehicles which have the higher cross-country ability on the surfaces with various types of obstacles and on loose soils, including steep slopes. Moreover, they have considerably higher tractive forces and optimal energy consumption.