Finding the Control Torques Providing an Equilibrium of an Eight-Legged Walking Robot in a Cylindrical Pipe

摘要

For an eight-legged walking robot crawling within a cylindrical pipe, the control torques are calculated in a quasistatic approximation. These torques provide a class of regular motions for which the robot axis lies on the pipe axis and the robot leans on the internal surface of the pipe by four legs, which lie in the same plane. The minimal torques in the joints of robot legs that provide the equilibrium of the robot in any phase of the gait are estimated.