Lyudmila Vorochaeva (Volkova)

    50 let Oktyabrya, 94, Kursk, 305040, Russia
    South-West State University


    Vorochaeva (Volkova) L. Y., Savin S. I., Malchikov A. V.
    This paper approaches the issue of the jumping robot overcoming one step of a flight of stairs. A classification of obstacles according to the way they are surmounted is proposed, the basic concepts concerning the flight of stairs and the realization of a leap from one step to another are introduced. A numerical simulation of a robot’s jump, carried out with a certain initial velocity, the vector of which is located at a certain angle to the horizon, has been carried out. The influence on the ranges of these two values of the numerical values of the height and the length of the step, the ratios between the length and the height of the step, as well as the distance to the step from which the jump is performed have been established.
    Keywords: jumping robot, obstacle, flight of stairs, separation velocity, step dimensions
    Citation: Vorochaeva (Volkova) L. Y., Savin S. I., Malchikov A. V.,  An Approach to Moving over Obstacles for a Wheeled Jumping Robot, Rus. J. Nonlin. Dyn., 2020, Vol. 16, no. 1, pp.  105-114
    Vorochaeva (Volkova) L. Y., Savin S. I., Yatsun A. S.
    This paper deals with the gait of a robot crawling on a horizontal rough surface with dry friction. A distinctive feature of the device is the presence of two supporting elements with a controlled coefficient of friction, which allows for alternately fixing the supports on the surface. As a result of numerical simulation, the patterns (laws) of influence on the motion characteristics of the mass-dimensional and control parameters of the robot, as well as the parameters of the supporting surface, are obtained, so that it is possible to find application in the design of the specified devices.
    Keywords: crawling robot, supporting element, controlled friction coefficient, dry friction model
    Citation: Vorochaeva (Volkova) L. Y., Savin S. I., Yatsun A. S.,  An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction, Rus. J. Nonlin. Dyn., 2019, Vol. 15, no. 4, pp.  623-632
    Vorochaeva (Volkova) L. Y., Jatsun S. F.
    The block diagram of the four-link jumping robot is presented, the mathematical model of movement of object at which the jump of the device is presented in the form of sequence of stages is developed, regularities of moving of the device depending at position of a point of fixing of a foot in the object body are received.
    Keywords: the jumping robot, multi-link mechanism, jump stages, positioning, lift-off, flight, landing
    Citation: Vorochaeva (Volkova) L. Y., Jatsun S. F.,  Studying of regularities of movement of the jumping robot at various positions of a point of fixing of a foot, Rus. J. Nonlin. Dyn., 2013, Vol. 9, No. 2, pp.  327-342
    Vorochaeva (Volkova) L. Y., Jatsun S. F.
    The mathematical model of the floating robot moving on the curvilinear trajectory on a liquid environment at the expense of movement of two internal masses and external force of the viscous friction is presented. Results of modeling of movement of the object are received.
    Keywords: three-mass robot, force of viscous friction, liquid environment, control system, curvilinear trajectory, program-controlled movement
    Citation: Vorochaeva (Volkova) L. Y., Jatsun S. F.,  Control of the three-mass robot moving in the liquid environment, Rus. J. Nonlin. Dyn., 2011, Vol. 7, No. 4, pp.  845-857

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