Simulating vertical walking robot gaits algorithms using MATLAB

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.