Computer Simulation of a Climbing Insectomorphic Robot

Algorithms for control of a six legged insectomorphic robot able to overcome a sequence of high obstacles are developed. The sequence of obstacles includes vertical upright cylindrical column, shelf with a horizontal supporting plate standing right up to the column, narrow horizontal beam, connecting the shelf with the same another one on the supporting plate level, vertical right corner (corner of a building). The robot doesn’t have the special contact equipment in its feet (vacuum suckers). Developed algorithms were worked-out by means of computer simulation of robot’s 3D-dynamics.