walking machine
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Sergey Jatsun ◽  
Andrei Malchikov ◽  
Andrey Yatsun ◽  
Al Manji Khalil ◽  
Andres Santiago Martinez Leon

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.

V. V. Arykantsev ◽  
V. V. Chernyshev ◽  
N. G. Sharonov

The paper describes the principle of choosing the optimal size and shape of the supporting element of a walking machine, provided that the maximum possible contact area with the supporting surface is provided for moving on snow or soils with a low bearing capacity. The study was carried out for an orthogonal walking propulsion device, but it can also be used for walking mechanisms of other types.

M. V. Miroshkina

The problem of walking machine leg transfer is being solved. Optimal laws of transfer are determined with regards to geometrical features of ground underwater. Complex optimality criterion is introduced as sum of indexes of quality of the movement multiplied each by weight coefficients.

2021 ◽  
Vol 416 ◽  
pp. 125831
Baozhong Zhang ◽  
Panpan Tian ◽  
Huina Zhu ◽  
Lingling Xie ◽  
Pengbo Dai ◽  

Maria Vladimirovna Miroshkina ◽  
Evgeny Samuilovich Briskin

The problem of walking machine leg transfer is considered. Optimal laws of transfer are determined with regards to geometrical features of ground and underwater. Complex optimality criterion is introduced as sum of indexes of quality of the movement multiplied each by weight coefficients. The solution is presented based on walking machine “Ortonog”.

2021 ◽  
Vol 16 (1) ◽  
pp. 66-70
Yuriy Aleynikov Yuriy Georgievich

The movement of machines with a walking legs is accompanied by dynamic vibrations of its body and a large energy consumption for the reciprocating movements of the legs. The greatest influence on the smoothness of the course is exerted by the alternating accelerations of the moving masses and the rigid contact of the leg with the ground surface. To reduce the negative factors affecting the smoothness of movement and energy consumption, are proposed to optimize the trajectory of movement of the legs. The optimized trajectory of the legs movement made it possible to reduce the consumption of electrical energy by 12 ... 18% per cycle of movement compared to the trajectory lying in the same geometric plane. In order to reduce shock loads, the time interval between the triggering of the shock sensor and the load sensor when lowering the support to the surface was experimentally determined, which was about 100 ms at a lowering speed of 20 mm/s. Reducing the speed of the leg at the moment of triggering the shock sensor after contact with the surface and its subsequent smooth loading made it possible to reduce shock loads and reduce body vibrations caused by sharp impacts of the feet on the surface. Support acceleration on impact decreased from 6g to 1.5g. The triggering of the shock sensor located on the support foot when it touches hard and soft surfaces requires adjusting the sensor's sensitivity while the machine is moving. Optimization of the algorithm for filtering false alarms and dynamic change in sensitivity did not give a satisfactory result, therefore, it is necessary to equip the design with additional load sensors that react to contact with the surface when lowering the support

2021 ◽  
Vol 31 (1) ◽  
pp. 80-96
Yury G. Aleynikov ◽  
Otari N. Didmanidze

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.

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