Motion control for an insectomorphic robot on a movable ball

摘要

The problem of motion design of a six-legged robot with the help of a ball rolling on a horizontal support plane is investigated. The robot motion is synthesized in order to accelerate or decelerate the ball in the direction of the longitudinal axis of the body and to provide a dynamic stability of the robot on the ball. It is executed with the help of dry friction forces. The motion of the body and legs is executed by imposing servoconstraints in the form of adaptive step cycles of legs and the required geometrical structure of body motion. Asymptotically stable program motion of legs with respect to the body and the entire system is provided by a PD-controller. The results of 3D computer simulation of the controlled robot dynamics are presented.