Савин Сергей И

In this work, a nonminimal coordinate representation of tensegrity structures with explicit constraints is introduced. A method is proposed for representation of results on tensegrity structures in sparse models of generalized forces, providing advantages for code generation for symbolic or autodifferentiation derivation tasks, and giving diagonal linear models with constant inertia matrices, allowing one not only to simplify computations and matrix inversions, but also to lower the number of elements that need to be stored when the linear model is evaluated along a trajectory.

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.

The paper deals with one of the modern challenges in walking robotics: moving across a rough terrain where the geometry of the terrain is unknown and hence it is impossible to plan precise trajectories for the robot feet in advance, before a collision with the supporting surface occurs. In this paper, an algorithm for the dynamics correction of the foot trajectory based on the compliant control is employed to deal with the problem. Additionally, to solve the problem of dynamic correction of the foot trajectory, it also provides a biomorphic reaction force profile, which might be a desired property for some applications.

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.