Walking Robot’s Getting Out from an Emergency Situation on Its Back

Abstract

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 support can be rotated sequentially around two different axes. It is shown that the overturn is possible with the help of cyclic movement of the group of legs if the body has an upper shell in the form of a truncated cylinder. The swinging is performed by the legs on the edge of the body opposite to the one through which the flip is to occur. An analytical study of the model problem was performed, along with a simulation of the full dynamics of the robot in contact with the support using the Universal Mechanism software package. Specifics of swinging due to the slope, the pit, and the bump are shown.