A control for an insectomorphic robot in climbing to the top of a vertical corner and in moving on a step ladder

摘要

For a six-legged robot, the problem of climbing a roof of a vertical right dihedral corner along its walls and a vertical high shelf with the help of a step ladder is investigated. The motions are realized with the help of the dry friction forces. The motion of the robot is formed by imposing servo-constraints in the form of adaptive step cycles of legs and the required geometric structure of body motion. An asymptotically stable program motion of legs relative to the body and the whole system is implemented by a PD controller. The results of 3D computer simulation of the controlled robot dynamics are presented.