Experimental Development of a Walking Transport Robot
The advisability of use of space pantographs with three-coordinate actuators as limbs for walking robots is substantiated on the basis of analysis of various kinematic schemes for walking propulsive devices. Analyzing the drive method and operation cycles of such limbs the control position is preferred. Considering walking robot motion on real soil, the criteria for unstable motion are determined. Reasons for unstable motion are given and the method for stabilization of motion is selected. The “ricksha” type two-legged walking robot model with plane pantograph limbs and hydraulic two-coordinate actuators, control of which is realized by position method, is described.
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