Skip to main content
SpringerLink
Log in

An insectomorphic robot climbing over a freely rolling ball

  • Robotics
  • Published:
Journal of Computer and Systems Sciences International Aims and scope

Abstract

An algorithm for the control of an insectomorphic robot climbing over a ball that rolls freely on a horizontal plane is developed and tested using computer simulation. The proposed motion involves three maneuvers. First, the robot climbs the ball at rest from the horizontal surface. At the end of this maneuver, the ball gains an angular velocity due to errors in the execution of the programmed motion. The further motion of the robot is designed so as to reduce the velocity gained in the course of climbing to an acceptable level. The motion is completed by the maneuver of getting down to the supporting horizontal plane from the almost motionless ball. The robot motion is implemented using the Coulomb friction without any special devices. The asymptotic stability of the programmed motion of the system as a whole is ensured by a PD controller that implements the step cycles of the leg motions and the planned motion of the body. Results of 3D computer simulation of the robot motion are discussed. The model of the mechanical robot-ball system is formed using the Universal Mechanism program package; this model is described by an automatically derived system of differential equations that take into account the dynamics of all solid elements.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Log in via an institution

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Institutional subscriptions

Similar content being viewed by others

References

  1. Ya. Ishigure, H. Kawasaki, T. Kato, K. Hirai, N. Iinuma, and S. Ueki, “Climbing Robot Equipped with a Postural Adjustment Mechanism for Conical Poles,” in Proc. of the 16th Int. Conf. CLAWAR-2013, Sydney, 2013 (World Scientific, Sydney, 2013), pp. 343–350.

    Google Scholar 

  2. P. Ward, D. Liu, K. Waldron, and M. Hasan, “Optimal design of a magnetic adhesion for climbing robots,” in Proc. of the 16th Int. Conf. CLAWAR-2013, Sydney, 2013 (World Scientific, Sydney, 2013), pp. 375–382.

    Google Scholar 

  3. X. Ya. Sandoval-Castro, M. A. Gracia-Murillo, J. P. Zavala-De Paz, and E. Castillo-Castaneda, “Hex-Piderix: A six-legged walking climbing robot to perform inspection tasks on vertical surfaces,” in Proc. of the 16th Int. Conf. CLAWAR-2013, Sydney, 2013 (World Scientific, Sydney, 2013), pp. 399–407.

    Google Scholar 

  4. Yu. F. Golubev and V. V. Koryanov, “Construction of motions of an insectomorphic robot that overcomes a combination of obstacles with the help of Coulomb friction forces,” J. Comput. Syst. Sci. Int. 44, 460–472 (2005).

    MATH  Google Scholar 

  5. Yu. F. Golubev and V. V. Koryanov, “A control for an insectomorphic robot in motion along a vertical corner and a horizontal beam,” J. Comput. Syst. Sci. Int. 45, 144–152 (2006).

    Article  MATH  Google Scholar 

  6. Yu. F. Golubev and V. V. Koryanov, “Computer simulation of a climbing insectomorphic robot,” in Proc. of the 9th Int. Conf. on Simulation of Adaptive Behavior, Rome, 2006, Lect. Notes Artif. Intell. Vol. 4095 (Springer, Berlin, 2006), pp. 126–137.

    Google Scholar 

  7. Yu. F. Golubev and V. V. Koryanov, “A control for an insectomorphic robot in climbing to the top of a vertical corner and in moving on a step ladder,” J. Comput. Syst. Sci. Int. 47(1), 139–148 (2008).

    Article  MATH  Google Scholar 

  8. Yu. F. Golubev and V. V. Koryanov, “Motion design for an insectomorphic robot on unstable obstacles,” in Proc. of the 11th Int. Conf. CLAWAR-2008. Coimbra, Portugal, 2008 (World Scientific, 2008), pp. 654–661.

    Google Scholar 

  9. Yu. F. Golubev and V. V. Koryanov, “Motion control for an insectomorphic robot on a movable ball,” J. Comput. Syst. Sci. Int. 48, 801–813 (2009).

    Article  MathSciNet  MATH  Google Scholar 

  10. Yu. F. Golubev and V. V. Koryanov, “Insectomorphic robot climbing a freely rolling ball,” J. Comput. Syst. Sci. Int. 49, 1009–1019 (2010).

    Article  MathSciNet  MATH  Google Scholar 

  11. Yu. F. Golubev and V. V. Koryanov, “Motion control for the 6-legged robot in extreme conditions,” in Proc. of the 16th Int. Conf. CLAWAR-2013, Sydney, 2013 (World Scientific, Sydney, 2013), pp. 427–434.

    Google Scholar 

  12. D. E. Okhotsimskii and Yu. F. Golubev, Mechanics and Control of Motion of an Automatic Walking Machine (Nauka, Moscow, 1984) [in Russian].

    Google Scholar 

  13. Yu. F. Golubev, Foundations of Theoretical Mechanics: Textbook, 2nd ed. (Mosk. Gos. Univ., Moscow, 2000) [in Russian].

    Google Scholar 

  14. http://www.umlab.ru

Download references

Author information

Authors and Affiliations

  1. Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, Miusskaya pl. 4, Moscow, 125047, Russia

    Yu. F. Golubev & V. V. Koryanov

Authors
  1. Yu. F. Golubev
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. V. V. Koryanov
    View author publications

    You can also search for this author in PubMed Google Scholar

Corresponding author

Correspondence to Yu. F. Golubev.

Additional information

Original Russian Text © Yu.F. Golubev, V.V. Koryanov, 2014, published in Izvestiya Akademii Nauk. Teoriya i Sistemy Upravleniya, 2014, No. 5, pp. 116–125.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Golubev, Y.F., Koryanov, V.V. An insectomorphic robot climbing over a freely rolling ball. J. Comput. Syst. Sci. Int. 53, 733–742 (2014). https://doi.org/10.1134/S1064230714050086

Download citation

  • Received:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1134/S1064230714050086

Keywords

Search

Navigation