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Doklady Rossijskoj Akademii Nauk. Mathematika, Informatika, Processy Upravlenia, 2024, Volume 518, Pages 40–50
DOI: https://doi.org/10.31857/S2686954324040078 (Mi danma549) 		 
This article is cited in 1 scientific paper (total in 1 paper)

MATHEMATICS

Getting over wide obstacles by a multi-legged robot

Yu. F. Golubev

Keldysh Institute of Applied Mathematics of Russian Academy of Sciences, Moscow, Russia
Full-text PDF Citations (1)
DOI: https://doi.org/10.31857/S2686954324040078
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.
Keywords: walking robots, overcoming obstacles.
Presented: B. N. Chetverushkin
Received: 16.04.2024
Revised: 19.05.2024
Accepted: 28.05.2024
English version:
Doklady Mathematics, 2024, Volume 110, Issue 1, Pages 328–336
DOI: https://doi.org/10.1134/S1064562424601136
Bibliographic databases:
Document Type: Article
UDC: 531.38
Language: Russian
Citation: Yu. F. Golubev, “Getting over wide obstacles by a multi-legged robot”, Dokl. RAN. Math. Inf. Proc. Upr., 518 (2024), 40–50; Dokl. Math., 110:1 (2024), 328–336
Citation in format AMSBIB
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\by Yu.~F.~Golubev
\paper Getting over wide obstacles by a multi-legged robot
\jour Dokl. RAN. Math. Inf. Proc. Upr.
\yr 2024
\vol 518
\pages 40--50
\mathnet{http://mi.mathnet.ru/danma549}
\crossref{https://doi.org/10.31857/S2686954324040078}
\elib{https://elibrary.ru/item.asp?id=74176078}
\transl
\jour Dokl. Math.
\yr 2024
\vol 110
\issue 1
\pages 328--336
\crossref{https://doi.org/10.1134/S1064562424601136}
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    • This publication is cited in the following 1 articles:
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