An insectomorphic robot climbing over a freely rolling ball

摘要

An algorithm for the control of an insectomorphic robot climbing over a ball that rolls freely on a horizontal plane is developed and tested using computer simulation. The proposed motion involves three maneuvers. First, the robot climbs the ball at rest from the horizontal surface. At the end of this maneuver, the ball gains an angular velocity due to errors in the execution of the programmed motion. The further motion of the robot is designed so as to reduce the velocity gained in the course of climbing to an acceptable level. The motion is completed by the maneuver of getting down to the supporting horizontal plane from the almost motionless ball. The robot motion is implemented using the Coulomb friction without any special devices. The asymptotic stability of the programmed motion of the system as a whole is ensured by a PD controller that implements the step cycles of the leg motions and the planned motion of the body. Results of 3D computer simulation of the robot motion are discussed. The model of the mechanical robot-ball system is formed using the Universal Mechanism program package; this model is described by an automatically derived system of differential equations that take into account the dynamics of all solid elements.