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Overcoming Obstacles in the Form of a Stack of Rough Cylinders by an Insectomorphic Robot

  • ROBOTICS
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Journal of Computer and Systems Sciences International Aims and scope

Abstract

A method is presented for overcoming an obstacle by an insectomorphic robot in the form of a stack of three rough cylinders of different radii, two of which lie on a horizontal plane, and the third cylinder lies on top of these two. The cylinders are affected by gravity, dry friction, and rolling friction. The equilibrium conditions for the system under the action of an external force arising from the robot’s support on the system of cylinders are found. With the involvement of computer simulation tools, an algorithm for overcoming a stack that does not destroy the structure of the obstacle is developed. The results of the numerical experiments are presented.

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Authors and Affiliations

  1. Keldysh Institute of Applied Mathematics, Russian Academy of Sciences, 125047, Moscow, Russia

    Yu. F. Golubev & V. V. Koryanov

Authors
  1. Yu. F. Golubev
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  2. V. V. Koryanov
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Correspondence to Yu. F. Golubev or V. V. Koryanov.

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Golubev, Y.F., Koryanov, V.V. Overcoming Obstacles in the Form of a Stack of Rough Cylinders by an Insectomorphic Robot. J. Comput. Syst. Sci. Int. 61, 253–269 (2022). https://doi.org/10.1134/S1064230722020083

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  • DOI: https://doi.org/10.1134/S1064230722020083

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