Behavior of the six-legged robot in emergency situation

摘要

The paper proposes a method of rocking the body of a six-legged robot, which provides a flipping of the body and the return of the robot to the operating position. It is shown that the autonomous rescue of the apparatus from an emergency position “upside down” is possible with the help of cyclic movement of the legs, if the body has an upper shell in the form of a truncated cylinder. The legs on the pre-chosen edge of the body through which the flip should occur, are passive, and straightened along the body so that they do not interfere with the flip. The legs on the opposite edge are active; they perform synchronous movement in a plane perpendicular to the longitudinal axis of the body, with a fixed angle in the knee. An analytical study and computer simulation of the full dynamics of the robot were fulfilled which confirmed the effectiveness of the developed technique for restore the functional capability of the robot. Computer simulation was carried out by means of the Universal Mechanism software package. The results of numerical experiments are presented.