Abstract
The research of several possible ways of methods of controlling a walking mobile robot with a vibration drive, which exerts a periodic force effect on the propulsion devices, which, in turn, provides vibration movement, has been studied. The controlled regulating modules are the frequency, the amplitude of the oscillations of the propulsion devices, the value of the driving force and the speed, which are also indicators of the quality of movement.
This work was supported by RSF № 18–71-10069.
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Bordyugov, D.V., Briskin, E.S., Sharonov, N.G. (2022). The Motion Control Research of the Mobile Robot with Vibrating Propulsion Device Which Discretely Interacting with the Supporting Surface. In: Chugo, D., Tokhi, M.O., Silva, M.F., Nakamura, T., Goher, K. (eds) Robotics for Sustainable Future. CLAWAR 2021. Lecture Notes in Networks and Systems, vol 324. Springer, Cham. https://doi.org/10.1007/978-3-030-86294-7_37
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DOI: https://doi.org/10.1007/978-3-030-86294-7_37
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