Features of the dynamics of walking machines and robots with cycle type of movers and controlled dissipation in the foot joint

Abstract

The expediency of introducing an additional damping device (analog of a shock absorber) into the cyclic walking mechanism of a mobile robot, which provides a dissipative connection of a ski-shaped foot with a support link, is discussed. The influence of the damper on the dynamics of the feet changing and the dynamics of the meeting of the foot with an obstacle is considered. It is shown that dissipation in the hinge of the foot leads to a decrease in the intensity of shock processes when changing feet and when meeting an obstacle, provides a decrease in power losses for vertical vibrations of the body, and also expands the propulsion unit’s capabilities for self-adaptation to an unorganized surface.