The methods ofthe energetics of the multifeet walking transportation machines with independent carrying drives, adaptation drives, and turn drives have been created. They were compared with power expenditures of wheeled and caterpillar machines. The problem of delivery optimisation of efforts upon the support feet at minimum ground deformation has been solved. The specifications of the machine direct and curved movement have been received. The results of computation are presented.turn, angles of ascend and descend, the side stability angle) should be much higher than the traditional transportation machines have.The movement speed off a walking machine is much lower than the wheeled machines possess and it is limited to 10 km per hour [3]. Higher speed seems to be of no need if to take walking robots application areas into consideration. In case the walking robot solves the problem, say, moving with the speed of 5 km/h in conditions under which wheeled and caterpillar-based machines might reach the criterium total practicability level (their movement speed is equal to zero), it is quite clear that their economical necessity in real conditions of movement is of no doubt. The main functional parts of a walking transportation machine of a large weight capacity are the mechanism system (the machine body, the walking mechanisms), moving engines, and a twoleveled control of motion system. It is a basic feature of walking transportation machines of large weighing ca-
Abstract. The paper considers the control system of the autonomous mobile robot CS-7 with eight supporting legs, installed on four hard frames in pairs. Advantages of the chosen design: energy absence to support machine weight and simpler algorithms of trajectory and reference points motion management.Onboard control is designed as a scalable, modular distributed low-level microprocessor system, which comprises two major subsystems: information measurement for processing sensors data and robot actuators control.Supervisory control mode is supported by the vision system based on timeof-flight cameras and a set of ultrasonic and infrared sensors, geosteering module for local and global robot positioning. Measuring information is transmitted to the control computer via Wi-Fi module. Software for the upper-level computer and library of functions for low-level units are developed for the implementation of various robot motion algorithms. Functions define the basic parameters of orthogonal movers depending on the given route and environment map.
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