Email this article 
Stepping over obstacles of maximum width by a multi-legged insectomorphic robot
- Authors: Golubev Y.F.1, Koryanov V.V.1
-
Affiliations:
- Keldysh Institute of Applied Mathematics, RAS
- Issue: No 2 (2025)
- Pages: 140-165
- Section: РОБОТОТЕХНИКА
- URL: https://rjsvd.com/0002-3388/article/view/684535
- DOI: https://doi.org/10.31857/S0002338825020106
- EDN: https://elibrary.ru/ASSOLV
- ID: 684535
Cite item
Open Access
Access granted
Full Text
Supplementary files
Supplementary Files
Action
1.
JATS XML
2.
Fig. 1. Angular coordinates of the robot: a – front view, b – top view.
Download (70KB)
3.
Fig. 2. Standard position of the SHA in front of an obstacle.
Download (27KB)
4.
Fig. 3. Initial stage.
Download (44KB)
5.
Fig. 4. Transfer of the hind legs.
Download (42KB)
6.
Fig. 5. Transfer of the middle legs.
Download (40KB)
7.
Fig. 6. Transfer of the front legs with simultaneous advancement of the body.
Download (33KB)
8.
Fig. 7. Movement of the body after placing the front legs.
Download (33KB)
9.
Fig. 8. Transfer of the hind legs.
Download (34KB)
10.
Fig. 9. Transfer of the middle legs with the advancement of the body.
Download (33KB)
11.
Fig. 10. Shift of the body, then transfer of the hind legs, then the middle legs.
Download (41KB)
12.
Fig. 11. Shift of the body and simultaneous transfer of the front legs.
Download (38KB)
13.
Fig. 12. Stepping with middle legs to the edge of the obstacle zone.
Download (34KB)
14.
Fig. 13. Starting position for moving the middle legs over the obstacle.
Download (39KB)
15.
Fig. 14. Symmetrical position.
Download (36KB)
16.
Fig. 15. Width of the obstacle clearance zone.
Download (43KB)
17.
Fig. 16. Initial position in front of the obstacle.
Download (31KB)
18.
Fig. 17. Moving the body forward.
Download (37KB)
19.
Fig. 18. Alternate transfer of the hind legs.
Download (34KB)
20.
Fig. 19. Transfer of the right front leg to the rear edge of the obstacle.
Download (32KB)
21.
Fig. 20. Moving the body forward.
Download (35KB)
22.
Fig. 21. Moving the second leg forward.
Download (32KB)
23.
Fig. 22. Returning the body back.
Download (32KB)
24.
Fig. 23. Transferring the fourth leg to the back side of the obstacle.
Download (36KB)
25.
Fig. 24. Moving the body and then transferring the second leg.
Download (32KB)
26.
Fig. 25. The position of the model corresponding to the diagram in Fig. 4.
Download (36KB)
27.
Fig. 26. Transfer of the front legs with simultaneous advancement of the body.
Download (33KB)
28.
Fig. 27. Stepping with middle legs.
Download (33KB)
29.
Fig. 28. State of readiness for transfer of middle legs.
Download (27KB)
30.
Fig. 29. Preparing to move the hind legs over the obstacle.
Download (30KB)
31.
Fig. 30. The robot passed over the obstacle.
Download (33KB)
32.
Fig. 31. The robot moved its front legs to the rear edge of the obstacle.
Download (43KB)
33.
Fig. 32. Position after the first wave of leg transfers.
Download (39KB)
34.
Fig. 33. Feet of the middle legs at the front edge of the obstacle.
Download (45KB)
35.
Fig. 34. Beginning of transfer of middle legs over the obstacle.
Download (40KB)
36.
Fig. 35. ε-balanced pose.
Download (41KB)
37.
Fig. 36. The obstacle is overcome.
Download (46KB)
