Abstract
Walking robots are designed to overcome obstacles when moving. The walking robot AnyWallker is developed, in the design of which the task of self-stabilization of the center of the mass is solved; a special type of chassis is developed, providing movement on high cross-country capability. The paper presents the results of designing and controlling the robot, the architecture of the software complex provides management and mastification of the hardware platform. AnyWalker is actually a chassis which can be used to build robots for many different purposes, such as surveying complex environment, industrial operations, and work in hazardous environment.
Highlights
A significant number of moving transport robotic complexes are wheeled or caterpillar
According to the leading US universities and companies, expressed in the report A Roadmap for US Robotics 2016: “To extend the automation of the logistics chain into the world, robots must have mobility that matches human mobility – robots must negotiate stairs, elevators, doorways, curbs, broken concrete, cluttered environments, and go where people go. This type of advanced mobility is becoming realistic for robotic systems, legged and otherwise - and with such a solution, logistics will become fast, 24/7, on-demand, inexpensive, predictable, and well-tracked.”
The task was to design a robot in an controlled self-stabilizing platform, with a large range of patency. The solution of these problems is ensured by the design of the hull, which allows for quick-setting stabilization, as well as the original chassis scheme aimed at overcoming obstacles
Summary
A significant number of moving transport robotic complexes are wheeled or caterpillar. We can distinguish a class of humanoid robots, the advantage of which is the reduction of energy costs due to the use of natural oscillations, but a poorly solved problem here is the stabilization of the center of mass due to the complex geometry of the object [7]. Another big class are six-legged mobile platforms with various types of chassis [4]. The task was to design a robot in an controlled self-stabilizing platform, with a large range of patency (overcoming high and complex obstacles). The solution of these problems is ensured by the design of the hull, which allows for quick-setting stabilization, as well as the original chassis scheme aimed at overcoming obstacles
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