Dynamic model of a walking mobile robot

Abstract

The results of modelling the movement of a walking robot of arbitrary orientation are presented. The difference between the presented dynamic models of the mobile robot is that the movement of the robot on the surface of any orientation in space is realized due to the transformation of the accumulated potential energy into kinetic energy of motion. This approach to controlling walking robots can save up to 30 ... 40% of the robot's energy resources and direct them to perform technological operations. The article contains systems of differential equations of motion of the robot, which were solved by the numerical Runge-Kutta method of the fourth order of accuracy. As a result, graph-analytical relationships between the constructive parameters of the walking robot are obtained. This will create an engineering technique for designing walking robots of arbitrary orientation, which contain devices for accumulating potential energy and converting it into kinetic energy of the robot's motion. Ref. 5, pic. 3

Keywords

• mobile robots
• stepping mechanisms
• pedipulators
• robots of vertical movement.