Motion dynamics of walking robots with multi-rotor drive systems

摘要

In this paper a roll-walking motion of a robot with a multi-rotor drive system is considered. The robot represents a rigid body with the multi-rotor drive system which consists of pairs of conjugate rotors located on the main axes. The multi-rotor drive system allows using conjugate spinups and captures of conjugate rotors to perform roll-walking motion of the robot. To perform a single step of the robot we need to perform conjugate spinup of the pair of conjugate rotors, and then make a capture (braking) one of them. After this capture the rotor's angular moment is transmitted to the main rigid body of the robot and it makes an angular motion relative to one of its axes. Capture of the second conjugate rotor compensates the angular moment and stops the rotation of the main robot body.