Assessment of the performance of walking robots by multicriteria optimization of their parameters and algorithms of motion

On Determining the Optimal Lifting Law of the Walking Propulsion Device Foot of an Underwater Robot from the Bottom

“…Then, instead of ( 8), there are linearized equations admitting an analytical solution (9) Equations ( 9) can be reduced to a single differential equation. To do this, from the first equation ( 9), we express (10) and substituted into the second equation.…”

“…For example, a modified stop transfer path [1] is known, proposed in the absence of sufficient information about the surface profile, or the equation for the optimal raising and lowering of the foot of an orthogonal propulsion device [2] if such information is available. Moreover, the optimality criteria can be different and additively include indicators differing in their significance, such as, for example, the level of heat loss in the engines, the force developed by the drives, the transfer time, in general, and the raising and lowering of the foot, in particular [3].…”

“…Thus, to select a drive that provides a foot lift for walking robots developed at the Volgograd State Technical University [8,9], it is necessary to establish patterns that ensure the optimal movement.…”

On the Optimal Modes of Controlled Transfer of Walking Propulsion Devices

“…The latter can consist of several indexes, for example, minimum heat loss in drive motors, minimum rms power developed by engines, minimum distance traveled, etc [17,18]. These indexes can be compiled in complex optimality criterion to determine the boundaries of the Pareto-optimal motion modes [19].…”

On the optimal modes of controlled transfer of walking propulsion devices

“…The latter can consist of several indexes, for example, minimum heat loss in drive motors, minimum rms power developed by engines, minimum distance traveled, etc [4,5]. These indexes can be compiled in complex optimality criterion to determine the boundaries of the Pareto-optimal motion modes [6].…”