This research is concerned about developing movement algorithms for a robot which walks vertically and moves along walls, surfaces of buildings and structures. A real model of the robot is to be presented in the Technopark of Bauman Moscow State Technical University. Relevance of the study, research and development of vertical robots performing a wide range of tasks in various fields have been considered and proved. A computer-based model of a three-link vertical walking robot has been developed using MATLAB. This model generally shows operation principle of such robots. Simscape Multibody library has been used to build the robot model. The developed model takes into account dynamics of the robot. Later, based on the vertical movement robot mass center linear velocity, angular velocities of the hinges have been determined. The control system of the robot can be represented as a finite state machine. Two scenarios have been modeled in this work. In the first case, the robot has overcome a ledge while moving on a horizontal surface. In the second case, the robot has moved from a horizontal surface to a vertical surface. Equations have been also developed for calculating the necessary drive torques. The purpose is verifying the correctness of calculating the drive torques in MATLAB environment.
Skip Nav Destination
Article navigation
Research Article|
April 25 2022
Simulating vertical walking robot gaits algorithms using MATLAB
A. A. Boshlyakov;
A. A. Boshlyakov
a)
Bauman Moscow State Technical University
, Moscow, 105005, Russia
a)Corresponding author: [email protected]
Search for other works by this author on:
S. V. Kalinichenko;
S. V. Kalinichenko
b)
Bauman Moscow State Technical University
, Moscow, 105005, Russia
Search for other works by this author on:
K. V. Konovalov;
K. V. Konovalov
c)
Bauman Moscow State Technical University
, Moscow, 105005, Russia
Search for other works by this author on:
A. I. Ogorodnik
A. I. Ogorodnik
d)
Bauman Moscow State Technical University
, Moscow, 105005, Russia
Search for other works by this author on:
a)Corresponding author: [email protected]
AIP Conf. Proc. 2383, 030010 (2022)
Citation
A. A. Boshlyakov, S. V. Kalinichenko, K. V. Konovalov, A. I. Ogorodnik; Simulating vertical walking robot gaits algorithms using MATLAB. AIP Conf. Proc. 25 April 2022; 2383 (1): 030010. https://doi.org/10.1063/5.0075756
Download citation file:
Pay-Per-View Access
$40.00
Sign In
You could not be signed in. Please check your credentials and make sure you have an active account and try again.
49
Views
Citing articles via
Inkjet- and flextrail-printing of silicon polymer-based inks for local passivating contacts
Zohreh Kiaee, Andreas Lösel, et al.
Effect of coupling agent type on the self-cleaning and anti-reflective behaviour of advance nanocoating for PV panels application
Taha Tareq Mohammed, Hadia Kadhim Judran, et al.
Design of a 100 MW solar power plant on wetland in Bangladesh
Apu Kowsar, Sumon Chandra Debnath, et al.
Related Content
Practice-oriented modules in physics and informatics teachers training in educational technopark environment
AIP Conf. Proc. (January 2024)
Modeling the fixing drive of a walking robot vertical movement in the MATLAB Simulink software package
AIP Conf. Proc. (October 2023)
Dynamic stability and phase resetting during biped gait
Chaos (June 2009)
Structural design and gait planning for hexapod spider robotics
AIP Conf. Proc. (December 2024)
A review on effectiveness of robotic assistance in gait training in post stroke individuals
AIP Conf. Proc. (December 2024)