Insectomorphic robot climbing a freely rolling ball

The problem of control of autonomous motion of a six-legged robot from a support horizontal plane to a ball that can freely move on this plane in an arbitrary direction is solved. Further robot motion aimed at acceleration or deceleration of the ball both in the direction of the longitudinal axis of its body and in the transverse direction ensuring dynamic stability of the robot on the ball is synthesized. Analytical conditions of implementability of the maneuver of climbing a ball are found. Formulas for estimating the maximum ball radius for which climbing of the robot is possible are obtained. Using the developed control algorithms, the robot can climb the ball and, staying on it, move the ball to the desired position in the plane. Robot motion is performed owing to the dry friction forces. Asymptotic stability of the programmed motion of the whole system is provided by a PD controller, which implements necessary step cycles of legs motion and the planned law of body motion. Results of 3D computer simulation of the controlled robot dynamics are discussed.