Construction of motions of an insectomorphic robot that overcomes a combination of obstacles with the help of Coulomb friction forces

摘要

Methods for forming, motions of a six-legged insectomorphic robot are developed in order to provide for overcoming a combination of two obstacles: a vertical cylindrical column and a high shelf with a vertical wall. The robot does not have vacuum suckers on its feet or other special facilities and can use only the friction forces at the supporting points. The height of the shelf does not allow the robot to get on it without using the column. Various motion modes are considered depending on the combination of heights of the column and shelf. The results of three-dimensional computer simulation of the complete robot dynamics that characterize the possibility of implementing the developed control algorithms are presented.