Andrey Yatsun
Publications:
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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
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.
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