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
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Affiliations:
- 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
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.
About the authors
E. S. Briskin
Volgograd State Technical University
Author for correspondence.
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
Ya. V. Kalinin
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
A. V. Maloletov
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
V. A. Serov
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
S. A. Ustinov
Volgograd State Technical University
Email: dtm@vstu.ru
Russian Federation, Volgograd, 400005
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