Formation of the algorithm concept of mechanical displacement schemes as a method for adapting a walking robot to changes in external and internal conditions

Authors: Voevoda N.N.
Published in issue: #12(29)/2018
DOI: 10.18698/2541-8009-2018-12-422
Category: Mechanical Engineering and Machine Science | Chapter: Robots, Mechatronics, and Robotic Systems
Keywords: locomotion robot, mobile robot, mechanical scheme of locomotion, robot motion method, adaptive algorithm, extreme robotics, robot control, kinematic pattern
Published: 14.01.2019

The concept of the algorithm controlling the movement scheme of the mobile walking robot is presented. In the future, this algorithm will allow improving the robot’s passability characteristics in extreme conditions. The previous analysis of modern technological solutions showed their main advantages and disadvantages and then the considered concept was formed based on this analysis. In the future, the tasks created and the requirements for the implementation of the algorithm for the current appearance of the robot allowed us to come to the calculation cycle and the state diagram of the algorithm. The conclusion was made about the further development of the algorithm and the creation of an automated control system based on it.

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