{"title":"Getting over Wide Obstacles by a Multi-Legged Robot","authors":"Yu. F. Golubev","doi":"10.1134/S1064562424601136","DOIUrl":null,"url":null,"abstract":"<p>An upper estimate for the maximum width of a forbidden foothold zone that a multi-legged walking robot can overcome in static stability mode is presented. By using mathematical models of six- and four-legged robots, it is shown that the estimate cannot be improved. For this purpose, foot placement sequences are formed for which the estimate is attained. The dependence of the maximum width of the zone on the body length is found for the six-legged robot model.</p>","PeriodicalId":531,"journal":{"name":"Doklady Mathematics","volume":"110 1","pages":"328 - 336"},"PeriodicalIF":0.5000,"publicationDate":"2024-10-20","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Doklady Mathematics","FirstCategoryId":"100","ListUrlMain":"https://link.springer.com/article/10.1134/S1064562424601136","RegionNum":4,"RegionCategory":"数学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q3","JCRName":"MATHEMATICS","Score":null,"Total":0}
引用次数: 0
Abstract
An upper estimate for the maximum width of a forbidden foothold zone that a multi-legged walking robot can overcome in static stability mode is presented. By using mathematical models of six- and four-legged robots, it is shown that the estimate cannot be improved. For this purpose, foot placement sequences are formed for which the estimate is attained. The dependence of the maximum width of the zone on the body length is found for the six-legged robot model.
期刊介绍：
Doklady Mathematics is a journal of the Presidium of the Russian Academy of Sciences. It contains English translations of papers published in Doklady Akademii Nauk (Proceedings of the Russian Academy of Sciences), which was founded in 1933 and is published 36 times a year. Doklady Mathematics includes the materials from the following areas: mathematics, mathematical physics, computer science, control theory, and computers. It publishes brief scientific reports on previously unpublished significant new research in mathematics and its applications. The main contributors to the journal are Members of the RAS, Corresponding Members of the RAS, and scientists from the former Soviet Union and other foreign countries. Among the contributors are the outstanding Russian mathematicians.
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