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An Insectomorphic Robot Overcoming Obstructions Formed by Isolated Cylinders
Journal of Computer and Systems Sciences International ( IF 0.6 ) Pub Date : 2021-04-28 , DOI: 10.1134/s1064230721020052
Yu. F. Golubev , V. V. Koryanov

Abstract

A method of overcoming obstacles by a hexapod robot is developed. The obstacles are formed by single cylinders of large radii or by a set of spaced cylinders of small radii that lie on a horizontal plane under the action of the gravity force; the Coulomb friction and rolling friction are taken into account. It is proved that, if the radius of a single cylinder is comparable with the robot’s height, then such an obstacle can be overcome by imparting an appropriate initial angular velocity to the cylinder. The results of the computational experiments are discussed.



中文翻译:

一个不变形的机器人克服了由孤立的圆柱体形成的障碍物

摘要

开发了一种通过六脚机器人克服障碍物的方法。障碍物是由大半径的单个圆柱体或由一组小半径的隔开的圆柱体形成的,它们在重力的作用下位于水平面上。库仑摩擦和滚动摩擦都考虑在内。事实证明,如果单个圆柱体的半径与机器人的高度相当,则可以通过为圆柱体赋予适当的初始角速度来克服这种障碍。讨论了计算实验的结果。

更新日期:2021-04-29
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