Energy Efficient Modes of the Motion of Mobile Robots with Orthogonal Stepping Motorswhen Overcoming Obstacles

Abstract

The features of controlling the movement of a walking robot with orthogonal propulsion when overcoming obstacles are considered. The problem of the coordinated control of horizontal and vertical displacement drives is formulated to implement a motion mode that ensures optimality in the given criterion. The criterion of optimality is the minimum heat loss in the drive motors. A methodology for solving the problem and the simulation results are presented.