On controlling the adaptation of orthogonal walking movers to the supporting surface

On controlling the adaptation of orthogonal walking movers to the supporting surface

We construct a programmed motion of the drive to adapt a walking mover to the supporting surface based on the optimality criterion that takes into account the energy costs of movement, the shockless interaction with the ground, and the traction–coupling properties in stepping.

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Veröffentlicht in:Journal of computer & systems sciences international 2017-05, Vol.56 (3), p.519-526
Hauptverfasser: Briskin, E. S., Kalinin, Ya. V., Maloletov, A. V., Serov, V. A., Ustinov, S. A.
Format: Artikel
Sprache:eng
Schlagworte:
Adaptation
Computer science
Control
Energy consumption
Energy costs
Engineering
Mechatronics
Movement
Robotics
Studies
Traction
Walking
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Zusammenfassung:We construct a programmed motion of the drive to adapt a walking mover to the supporting surface based on the optimality criterion that takes into account the energy costs of movement, the shockless interaction with the ground, and the traction–coupling properties in stepping.
ISSN:1064-2307
1555-6530
DOI:10.1134/S1064230717030078