A.V. Panchenko
Cognitive Technologies, Lead Programmer, office 709, Pr. 60-letiya Octyabrya, 9, Moscow, Russia, tel.: +7(495)956-90-06, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
Presented article is devoted to the kinematics of the multilink body of a walking robot. Iverse kinematic problem is solved. Basic robot design consists of nine articulated square elements, composing robot body, and twelve legs. The control algorithm for such mosaic robot body is suggested. Design admits simple procedure of expantion of body elements number for specified purpose. Body control results from body elements laying on some surface by the way of finding joint angles between those elements whereby given points – laying poins – rest stricktly on the laying surface. Described robot body model have a number of advantages in comparison with one-piece body robots, additional mobility provides advanced adaptation to the supporting surface and manoeuvrability.
Key words
Walking robot, closed kinematical chain, inverse kinematics.
Year 2015 Issue number 1 Consecutive issue number 6 Pages 70-76
UDC identifier: 621.865.8-182.3
