A control for an insectomorphic robot in motion along a vertical corner and a horizontal beam

The problems of climbing a vertical corner and of moving on a horizontal beam while maintaining dynamic balance are solved for a six-legged robot. The opening angle of the comer is equal to Gp/2, and robot climbs it from a horizontal supporting surface. The motion is implemented using dry friction forces. The motion pattern in the passage from the horizontal surface on the corner and the motion in the upward direction are determined by the structure of the gallop gait. Using computer simulation, it is shown that a friction coefficient equal to 1.1 is sufficient for implementation of the motion constructed. In the motion on a narrow beam, the robot goes by a diagonal gait on the front and back legs. The middle legs are used as fly wheels in order to control the kinetic moment of the body relative to the supporting diagonal to reach robot stability in the top position. A PD-controller is designed that provides the required control of the relative motion of the middle legs. The results of computer simulation of the controlled robot dynamics are presented.