Features of slopes overcoming by walking devices

For mobile robots designed to work in extreme conditions, an important characteristic is the value of the overcoming slope. For wheeled and tracked vehicles, the angle of the overcoming slope is limited by the adhesion properties of the soil. The walking device can provide overcoming of higher slopes, since the analogue of the adhesion coefficient for walking machines, with a large footprint track depth, can be significantly greater than 1. The paper discusses the results of experimental studies of the features of overcoming slopes by a walking device in weak soil conditions. When mobile robots overcoming inclines, they may overturn or slide downhill. It is shown that on soft soils the sliding of walking machines downhill is unlikely because of significant deformations of the soil under the support elements. On the other hand, the deformation of the soil worsens the resistance of the walking vehicle to overturning. A method of increasing resistance to overturning by controlling the position of the robot body by separately regulating the conditional clearance of walking mechanisms is considered. The possibility of adjusting the clearance in the propulsion unit on the basis of Umnov-Chebyshev cyclic walking mechanisms is shown. Climbing slopes requires a certain amount of traction. The values of the additional power and the force characteristics of the walking device’s drive necessary for successful overcoming of slopes have been determined. The results of the work can be demand in the development of walking machines and mobile robots. Key words Mobile robots, walking machines, interaction with the ground, traction and coupling properties, overcoming slopes, tipping resistance, mathematical modeling, field tests. Acknowledgements Research was partially supported by RFBR and the Administration of the Volgograd region, research projects no. 19-08-01180 a, 19-48-340007 p_a.

Modeling Movement of Supports of Walking Machines with Dynamic Stability by Using a Stand

Introduction. Walking machines have been interesting for decades. Modern technologies make it possible to create new designs with digital control. Creating software that allows a walking machine to move independently is a difficult task. Walking machine onboard computer needs to process data from sensors in real time. The article demonstrates design and algorithms used to control the motion of an experimental walking machine. Materials and Methods. To simulate the motion of a walking machine and experimental studies, a stand replicating all the electronic systems of the machine was made. The order of rearrangement of the supports during the motion and the trajectory of the support movement are shown. The design of sensors and their principle of operation are considered. The simulation bench with a description of its electronic components is demonstrated. Results. The optimal parameters of the support motion are determined. A cyclic algorithm for specifying the motion of a support along a trajectory consisting of rectilinear segments is described. The problem of synchronization of motion of a set of supports using multithreaded asynchronous programming adapted for multidimensional processors has been solved. The process of lowering the support to the surface and the response of the cyclic algorithm to changes in the shock and load sensor readings are simulated. Discussion and Conclusion. An algorithm for propulsion with reaction to changes in sensor readings has been developed. The conducted research allowed us to obtain an optimal algorithmic model of motion, to which it is easy to add new reactions of the automatic motion control system based on sensor readings.

PROSPECTS OF LIDAR APPLICATION IN WALKING BOTTOM MOVED DEVICES

The prospects of using lidar as an element of technical vision of underwater walking vehicles are discussed. Walking machines appear to be the most suitable for seabed conditions. The proposed elements have a number of advantages over more traditional image sensors. Shown are already existing patents applicable for use in seabed conditions. It is proposed to use lidars for a system of automatic recognition and determination of geometric dimensions of anomalies and structural elements of technological pipelines in the oil and gas industry.