Insectomorphic Robot Maneuvering on a Movable Ball
The problem of generating motions of a six-legged robot with the help of a ball rolling on a horizontal support plane is investigated. The robot motion is synthesized in order to climb on a ball from a support plane, accelerate or decelerate the ball in the directions of the longitudinal or lateral axes of the body. Robot provides its dynamic stability on the ball. The goal of robot’s efforts is to remove the ball to a given place on the support plane. Robots behavior is accomplished with the help of dry friction forces only. The motion of the body and legs is executed by imposing servo constraints in the form of adaptive step cycles of legs and the required geometrical and dynamical properties of the body motion. The results of 3D computer simulation of the controlled robot dynamics are presented.
Unable to display preview. Download preview PDF.
- 1.Golubev, Y.F., Korianov, V.V.: Computer Simulation of a Climbing Insectomorphic Robot. In: Nolfi, S., Baldassarre, G., Calabretta, R., Hallam, J.C.T., Marocco, D., Meyer, J.-A., Miglino, O., Parisi, D. (eds.) SAB 2006. LNCS (LNAI), vol. 4095, pp. 126–137. Springer, Heidelberg (2006)CrossRefGoogle Scholar
- 2.Golubev, Y.F., Koryanov, V.V.: Motion Design for an Insectomorphic Robot on Unstable Obstacles. In: Proceedings of 11th International Conference CLAWAR 2008, Coimbra, Portugal, pp. 654–661. World Scientific Publishing Co. Pte, Singapore (2008)Google Scholar
- 8.Longo, D., Muscato, G.: Adhesion Techniques for Climbing Robots: State of the Art and Experimental Considerations. In: Proceedings of 11th International Conference CLAWAR 2008, Coimbra, Portugal, pp. 6–28. World Scientific Publishing Co. Pte, Singapore (2008)Google Scholar