Abstract
The problem of walking machine leg transfer is considered. Optimal laws of transfer are determined with regard to geometrical features of ground and underwater. Complex optimality criterion is introduced as the sum of indexes of quality of the movement multiplied each by weight coefficients. The solution is provided based on the walking machine “Ortonog.”
Highlights
One of the promising propulsion devices for mobile robots designed to perform various technological operations on an unorganized surface is a walking propulsion device
Various mathematical models have been considered that describe the dynamics of controlled movement of both multilegged and bipedal robots [6]–[11]
One of the important tasks is to determine the optimal models of movement [12,13]
Summary
One of the promising propulsion devices for mobile robots designed to perform various technological operations on an unorganized surface is a walking propulsion device. Such propulsion device is currently object of research [1]–[5]. The perfect maneuverability means that the body of robot can make any predefined plane motion [14] This is the main advantage of walking mobile robots in comparison with traditional types of drives (wheels, trucks, etc.). The disadvantages are low speed and energy efficiency This is caused by the properties of the walking machines as an unbalanced mechanism to interact discretely with supporting ground in the process of transfer and ensure the movement of the foot along an arbitrary path [15]
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