Bringing an Insectomorphic Robot to a Normal Position from an Abnormal Upside Down Position

摘要

It is shown that if a robot's body has an upper shell in the shape of a truncated cylinder, then a six-legged insectomorphic robot can autonomously bring itself to a normal position from an abnormal upside down position using a cyclic leg motion. A method for rocking the robot that helps it to turn itself over to the normal position is proposed. An analytical analysis and computer simulation of the complete robot dynamics are performed, which confirm the effectiveness of the proposed method of recovering the normal position of the robot. The results of numerical experiments are presented.