Main Catalog Mechanical Engineering and Machine Science Robots, Mechatronics, and Robotic Systems

Analysis of the walking robots’ adaptive systems

Authors: Voevoda N.N., Andreeva E.V., Lapin D.V.
Published in issue: #9(26)/2018
DOI: 10.18698/2541-8009-2018-9-378
Category: Mechanical Engineering and Machine Science \| Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: extreme robotics, locomotion robot, mobile robot, locomotion flow chart, method of moving a robot, kinematic template, adaptive function, robot control
Published: 25.09.2018

The article presents a comparison of the techniques for the modern walking robots’ locomotion change with the purpose of the adaptation to the external and internal changes of the robot’s state such as obstacles on the path of travel, varying landscape, breakdown of the components.
We consider the prototypes, whose locomotion flow chart change is determined by the self-learning process based on the simulation carried out by means of the onboard computer. The analysis results show that currently these systems cannot be applied under real-life conditions, since these solutions do not have sufficient operational speed. The article also presents a locomotion technique based on the robot limbs decentralized control. This technique has demonstrated high speed of operation, but at the same time low passability. The authors have conducted the investigation of the machines with the adequate stability for the use under real-life conditions. However, we have detected a significant drawback of this product: when some limb is inactivated, the machine stops adapting efficiently to the external changes. As the most sustainable option we have accepted a template selection of the motion patterns based on the analysis of the environment and the internal state of the mobile robot.

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