Skip to main content
Disciplines
Automotive Business IT + Informatics Construction + Real Estate Electrical Engineering + Electronics Energy + Sustainability Insurance + Risk Finance + Banking Management + Leadership Marketing + Sales Mechanical Engineering + Materials
Events
DE
EN
Books
Journals
Topic Page
Marketing
Start single access now
Access for companies
EXTENDED SEARCH
Log in
Top
Journal of Computer and Systems Sciences International
Published in: Journal of Computer and Systems Sciences International 6/2019

01-11-2019 | ROBOTICS

Bringing an Insectomorphic Robot to a Normal Position from an Abnormal Upside Down Position

Authors: Yu. F. Golubev, V. V. Koryanov, E. V. Melkumova

Published in: Journal of Computer and Systems Sciences International | Issue 6/2019

Log in

Activate our intelligent search to find suitable subject content or patents.

search-config
loading …

Abstract

It is shown that if a robot’s body has an upper shell in the shape of a truncated cylinder, then a six-legged insectomorphic robot can autonomously bring itself to a normal position from an abnormal upside down position using a cyclic leg motion. A method for rocking the robot that helps it to turn itself over to the normal position is proposed. An analytical analysis and computer simulation of the complete robot dynamics are performed, which confirm the effectiveness of the proposed method of recovering the normal position of the robot. The results of numerical experiments are presented.
previous article Implementation of the Orbital Orientation Mode of an Artificial Satellite of the Earth without Accumulation of the Angular Momentum of the Gyro System

Dont have a licence yet? Then find out more about our products and how to get one now:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

inform now

Springer Professional "Wirtschaft"

Online-Abonnement

Mit Springer Professional "Wirtschaft" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 340 Zeitschriften

aus folgenden Fachgebieten:

  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Versicherung + Risiko




Jetzt Wissensvorsprung sichern!

inform now
Literature
1.
Yu. F. Golubev and V. V. Koryanov, Extreme Locomotion Capabilities of Insectomorphic Robots (IPM im. M. V. Keldysha, Moscow, 2018) [in Russian].
2.
D. E. Okhotsimskii and Yu. F. Golubev, Mechanics and Motion Control of an Automatic Walking Apparatus (Nauka, Moscow, 1984) [in Russian].
3.
Robot Kingdom. www.youtube.com/watch?v=W9DOG47_xJk.
4.
Yu. F. Golubev and V. V. Koryanov, “Crossing a small body of water by an insectomorphic robot on a raft,” J. Comput. Syst. Sci. Int. 56, 1037 (2017).MathSciNetCrossRef
5.
Yu. F. Golubev and V. V. Koryanov, “Shipping cargo on a raft by an insectomorphic robot,” J. Comput. Syst. Sci. Int. 57, 813 (2018).CrossRef
6.
Universal mechanism. Modeling the dynamics of mechanical systems. http://www.umlab.ru. Accessd June 18, 2015.
7.
How the Bronze Beetle Turns Over. www.youtube.com/watch?v=nbExQQ5uqqk.
8.
Acrobat Tortoise. www.youtube.com/watch?v=eFDGRrbcSMQ.
9.
Yu. F. Golubev, Fundamentals of Theoretical Mechanics, The School-Book, 3rd ed. (Mosk. Gos. Univ., Moscow, 2019) [in Russian].
10.
Yu. F. Golubev and V. V. Koryanov, “An autonomous hexapod robot crossing a water obstacle on a raft,” Inzh. Zh.: Nauka Innov., No. 3 (2018) [in Russian].
Metadata
Title
Bringing an Insectomorphic Robot to a Normal Position from an Abnormal Upside Down Position
Authors
Yu. F. Golubev
V. V. Koryanov
E. V. Melkumova
Publication date
01-11-2019
Publisher
Pleiades Publishing
Published in
Journal of Computer and Systems Sciences International / Issue 6/2019
Print ISSN: 1064-2307
Electronic ISSN: 1555-6530
DOI
https://doi.org/10.1134/S1064230719060054

Other articles of this Issue 6/2019

Journal of Computer and Systems Sciences International 6/2019 Go to the issue

CONTROL SYSTEMS OF MOVING OBJECTS

Analytical Algorithm for Constructing the Orbital Orientation of a Spacecraft with an Incomplete Measurement of the State Vector Components

PATTERN RECOGNITION AND IMAGE PROCESSING

Detection of Cylindrical and Spherical Surfaces and Determining Their Parameters in Segmentation of Range Images

CONTROL IN STOCHASTIC SYSTEMS AND UNDER UNCERTAINTY CONDITIONS

Two-Stage Algorithm for Estimation of Nonlinear Functions of State Vector in Linear Gaussian Continuous Dynamical Systems

SYSTEMS ANALYSIS AND OPERATIONS RESEARCH

Generalized Equivalence Set Method for Solving Multiobjective Optimization Problems

CONTROL IN DETERMINISTIC SYSTEMS

Orientation Control of an Object on a Rotating Base by Using a Two-Stage Electric Drive

CONTROL IN DETERMINISTIC SYSTEMS

Motion Control for Platforms Bearing Elastic Links with Unknown Phase States

Premium Partner

    Image Credits