Footholds admissible areas structure of a two-legged walking robot on an inclined cylinder

Abstract

We consider the walking robot with n legs and m arms, where each leg and arm contacts the surface in a single foothold. Given the motion of the robot’s legs and arms with respect to its body, we solve the problem of finding the reaction forces, both analytically and numerically. The first step in solving similar problem belongs to N Y Zhukovsky. We describe the robot motion in terms of the general dynamics theorems, with six different equations of the robot’s dynamics from the momentum and angular momentum theorems. In the special case a robot with two legs, the existence of the solution is related to a set of straightforward inequalities. Using numerical simulations we develop the classification of footholds positions for different values of the friction coefficient. This problem equivalent to the problem of curved object grasping by the fingers of the robot-manipulator.