An Approach to Moving over Obstacles for a Wheeled Jumping Robot
2020, Vol. 16, no. 1, pp. 105-114
Author(s): Vorochaeva (Volkova) L. Y., Savin S. I., Malchikov A. V.
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.
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