ul. Universitetskaya 1, Innopolis, 420500 Russia
Golousov S. V., Khusainov R. R., Savin S. I.
Compliant Control for Walking Robots with the Use of a Virtual Spring-Damper System
2019, Vol. 15, no. 4, pp. 477-485
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.
Vorochaeva (Volkova) L. Y., Savin S. I., Yatsun A. S.
An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
2019, Vol. 15, no. 4, pp. 623-632
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.