Walking Robot for Moving on Vertical and Arbitrarily Oriented Surfaces

The article deals with the design of a walking robot with gripping devices that allow the robot to move on arbitrarily oriented surfaces in space. Such robots are relevant primarily for the inspection of various industrial structures. A model of a two-support robot with gripping devices that allow it to be attached to support surfaces with a small curvature, but arbitrarily oriented in space, is proposed. To ensure attachment to the support surfaces, the robot is designed with five degrees of freedom. An important criterion is the possibility of dexterous movement on surfaces. One of the degrees of freedom of the robot was made linear, which makes it easier to step over obstacles and allows you to implement simpler walking algorithms. When the robot is attached to the supporting surfaces by two gripping devices at once, the kinematic chain is closed. This can lead to an increase in forces and moments in the robot’s links. In this paper, it is applied to use two methods of controlling the drives of the links together – the implementation of impedance control by introducing feedback on the evaluation of the moment based on the motor currents and ensuring the pliability of the gripping devices due to its own elasticity. A mathematical simulation of the robot was carried out, which showed the possibility of reducing the forces in the robot links when attaching the robot to two support surfaces at the same time. The best results were achieved when controlling the current vector of a synchronous motor and using current signals to implement impedance control.

Foot trajectory analysis of a robotic leg

When it comes to walking robots, foot trajectory is a crucial element that can significantly influence the efficiency of the walking robot. This paper analyses the various foot return trajectories, which can provide higher step length while consuming less power. It is done through mathematical analysis and verified using simulations in software such as MSC Adams and Solidworks. This paper also discusses the kinematic and dynamic analysis of the two degrees of freedom leg using theoretical approaches in MATLAB and verifies the results using the simulation in MSC Adams.

Simulation of a Walking Robot-Exoskeleton Movement on a Movable Base

The paper studies the problem of movement of a two-legged walking machine on a movable base. This task is relevant for design rehabilitation and mechanotherapy complexes for people with impaired functions of the musculoskeletal system. Presents a mathematical model that allows obtaining the kinematic and dynamic parameters of the movement of the executive units of the device under study. The paper presents a method for planning the trajectory of exoskeleton links, its algorithmic and software implementation. The paper proposes the structure of the automatic link position control system, which ensures the movement of the executive links along a given trajectory. A mathematical apparatus is proposed for studying the dynamics of the controlled movement of the links of the human-machine system of the exoskeleton. The article presents the results of numerical experiments on the movement of the low-limb exoskeleton leg in the one step mode and analyzes them.