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

Autores: Briskin E.¹, Kalinin Y.¹, Maloletov A.¹, Serov V.¹, Ustinov S.¹
Afiliações:
1. Volgograd State Technical University
Edição: Volume 56, Nº 3 (2017)
Páginas: 519-526
Seção: Robotics
URL: https://journals.rcsi.science/1064-2307/article/view/219916
DOI: https://doi.org/10.1134/S1064230717030078
ID: 219916

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Resumo

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.