多腿机器人跨越宽阔障碍物

IF 0.5 4区数学 Q3 MATHEMATICS

Doklady Mathematics Pub Date : 2024-10-20 DOI:10.1134/S1064562424601136

Yu. F. Golubev

{"title":"多腿机器人跨越宽阔障碍物","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":"{\"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}","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

摘要

本文提出了多足行走机器人在静态稳定模式下可克服的禁足区最大宽度的上限估计值。通过使用六足和四足机器人的数学模型，证明该估计值无法改进。为此，形成了可以达到估计值的脚放置序列。研究发现了六足机器人模型的最大区域宽度与身体长度的关系。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

Getting over Wide Obstacles by a Multi-Legged Robot

查看原文本刊更多论文

Getting over Wide Obstacles by a Multi-Legged Robot

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.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Doklady Mathematics 数学-数学

CiteScore

1.00

自引率

16.70%

发文量

审稿时长

3-6 weeks

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.