0
2013
Impact Factor

    Sergey Savin

    ul. Universitetskaya 1, Innopolis, 420500 Russia
    Innopolis University

    Publications:

    Golousov S. V., Khusainov R. R., Savin S. I.
    Abstract
    The paper deals with one of the modern challenges in walking robotics: moving across a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan precise trajectories for the robot feet in advance, before a collision with the supporting surface occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on the compliant control is employed to deal with the problem. Additionally, to solve the problem of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile, which might be a desired property for some applications.
    Keywords: walking robot, uneven terrain, compliant control, biomorphic reaction force profile
    Citation: Golousov S. V., Khusainov R. R., Savin S. I.,  Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System, Rus. J. Nonlin. Dyn., 2019, Vol. 15, no. 4, pp.  477-485
    DOI:10.20537/nd190406
    Vorochaeva (Volkova) L. Y., Savin S. I., Yatsun A. S.
    Abstract
    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
    DOI:10.20537/nd190421

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