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

作者: Briskin E.¹, Kalinin Y.¹, Maloletov A.¹, Serov V.¹, Ustinov S.¹
隶属关系:
1. Volgograd State Technical University
期: 卷 56, 编号 3 (2017)
页面: 519-526
栏目: Robotics
URL: https://journals.rcsi.science/1064-2307/article/view/219916
DOI: https://doi.org/10.1134/S1064230717030078
ID: 219916

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详细

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.