Rescue of the Walking Robot from an Emergency Position on the Back in the Presence of Uneven Support

摘要

A method of swinging of the six-legged robot to ensure its overturn from the "upside down" position is proposed. As a support, we consider an inclined plane with a slight slope towards the flip, with a pit and optionally with a bump next to it. The position of the fixed support can be set by sequential rotations around two different axes. It is shown that the overturn 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. The results of simulation of the full dynamics of the robot in contact with the support by means of the "Universal mechanism" software package are presented. Specifics of swinging due to the slope, the pit and the bump are shown. For a typical set of robot parameters, the results of numerical experiments for pits of approximately the largest admissible sizes in cases where the support surface is rotated around one axis, around two axes, and for different types of pits, deep and shallow. In all cases, there is a bump next to the pit.