Lyudmila Vorochaeva (Volkova)
Publications:
|
Vorochaeva (Volkova) L. Y., Savin S. I., Malchikov A. V.
An Approach to Moving over Obstacles for a Wheeled Jumping Robot
2020, Vol. 16, no. 1, pp. 105-114
Abstract
This paper approaches the issue of the jumping robot overcoming one step of a flight of
stairs. A classification of obstacles according to the way they are surmounted is proposed, the
basic concepts concerning the flight of stairs and the realization of a leap from one step to
another are introduced. A numerical simulation of a robot’s jump, carried out with a certain
initial velocity, the vector of which is located at a certain angle to the horizon, has been carried
out. The influence on the ranges of these two values of the numerical values of the height and
the length of the step, the ratios between the length and the height of the step, as well as the
distance to the step from which the jump is performed have been established.
|
|
Vorochaeva (Volkova) L. Y., Savin S. I., Yatsun A. S.
An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
2019, Vol. 15, no. 4, pp. 623-632
Abstract
This paper deals with the gait of a robot crawling on a horizontal rough surface with
dry friction. A distinctive feature of the device is the presence of two supporting elements with
a controlled coefficient of friction, which allows for alternately fixing the supports on the surface.
As a result of numerical simulation, the patterns (laws) of influence on the motion characteristics
of the mass-dimensional and control parameters of the robot, as well as the parameters of the
supporting surface, are obtained, so that it is possible to find application in the design of the
specified devices.
|
|
Vorochaeva (Volkova) L. Y., Jatsun S. F.
Studying of regularities of movement of the jumping robot at various positions of a point of fixing of a foot
2013, Vol. 9, No. 2, pp. 327-342
Abstract
The block diagram of the four-link jumping robot is presented, the mathematical model of movement of object at which the jump of the device is presented in the form of sequence of stages is developed, regularities of moving of the device depending at position of a point of fixing of a foot in the object body are received.
|
|
Vorochaeva (Volkova) L. Y., Jatsun S. F.
Control of the three-mass robot moving in the liquid environment
2011, Vol. 7, No. 4, pp. 845-857
Abstract
The mathematical model of the floating robot moving on the curvilinear trajectory on a liquid environment at the expense of movement of two internal masses and external force of the viscous friction is presented. Results of modeling of movement of the object are received.
|