Author:
Bordyugov D V,Briskin E S,Sharonov N G
Abstract
Abstract
The movement of a two-legged robot which moves due to oscillations of a load with a given mass fixed on the robot body with the help of the springs, is considered in this research. By changing parameters, such as mass of the load, stiffness of the springs, size of the robot’s body and the initial speed of movement, the various trajectories of movement are executed. In this article mathematical model and calculation results have been presented.
Reference7 articles.
1. Three-link mechanism as a model of a person on a swing;Klimina;(News of the Russian Academy of Sciences. Theory and control systems),2020
2. Optimal motion of a two-body system in a resistive medium;Chernousko;J. of Optimization Theory and Applications,2010
3. On the control of the motion of a walking machine with twin orthogonal rotary movers;Briskin;J. of Computer and Systems Sciences Int.,2014
4. Mathematical modelling of mobile robot motion with propulsion device of discrete interacting with the support surface;Briskin;(IFAC-PapersOnLine),2018