Computer Simulation of a Climbing Insectomorphic Robot

  • Yury F. Golubev
  • Victor V. Korianov
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4095)


Algorithms for control of a six legged insectomorphic robot able to overcome a sequence of high obstacles are developed. The sequence of obstacles includes vertical upright cylindrical column, shelf with a horizontal supporting plate standing right up to the column, narrow horizontal beam, connecting the shelf with the same another one on the supporting plate level, vertical right corner (corner of a building). The robot doesn’t have the special contact equipment in its feet (vacuum suckers). Developed algorithms were worked-out by means of computer simulation of robot’s 3D-dynamics.


Joint Angle Step Cycle Horizontal Beam Vacuum Sucker Front Point 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2006

Authors and Affiliations

  • Yury F. Golubev
    • 1
  • Victor V. Korianov
    • 1
  1. 1.Keldysh Institute for Applied MathematicsRussian Academy of SciencesMoscowRussia

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