On controlling the adaptation of orthogonal walking movers to the supporting surface

E. S. Briskin; Ya. V. Kalinin; A. V. Maloletov; V. A. Serov; S. A. Ustinov

doi:10.1134/S1064230717030078

On controlling the adaptation of orthogonal walking movers to the supporting surface

Authors: Briskin E.S.¹, Kalinin Y.V.¹, Maloletov A.V.¹, Serov V.A.¹, Ustinov S.A.¹
Affiliations:
1. Volgograd State Technical University
Issue: Vol 56, No 3 (2017)
Pages: 519-526
Section: Robotics
URL: https://journals.rcsi.science/1064-2307/article/view/219916
DOI: https://doi.org/10.1134/S1064230717030078
ID: 219916

Cite item

Full Text

Open Access
Restricted Access

Access granted
Restricted Access

Subscription Access

Abstract
About the authors
References
Statistics

Abstract

We construct a programmed motion of the drive to adapt a walking mover to the supporting surface based on the optimality criterion that takes into account the energy costs of movement, the shockless interaction with the ground, and the traction–coupling properties in stepping.