Abstract
The wind powered walking mechanism is proposed that is able to perform a self-sustained up-wind motion. The device consists of the Chebyshev plantigrade machine and a wind turbine installed on it. A mathematical model of the mechanism is constructed on the basis of the quasi-steady description of the aerodynamic load. In frames of the model, sufficient conditions of existence of a periodic up-wind motion regime are derived based on the Andronov-Pontryagin approach. Parametrical analysis of the model is performed. Values of parameters ensuring high speed of motion and self-start of the machine are found. General features of behavior of the system are revealed and discussed. The laboratory prototype is constructed. The possibility of the up-wind walking is shown not only theoretically, but experimentally as well.
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