Fuzzy Control of Underwater Walking Robot During Obstacle Collision Without Pre-defined Parameters

Chernyshev, V. V.; Arykantsev, V. V.; Вершинина, И. П.

doi:10.1007/978-3-030-39225-3_38

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2021

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Cited by 3 publications

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“…In [13] presents an algorithm for fuzzy control of robot walking under water when it collides with an obstacle without given parameters. Based on algorithms for controlling fuzzy movements, typical leg movements were developed, which are autonomously performed by robot in order to eliminate emergency situations.…”

Section: Related Workmentioning

confidence: 99%

Modern Walking Robots: A Brief Overview

Lyashenko¹,

Ahmad²,

Belova³

et al. 2021

International Journal of Recent Technology and Applied Science

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In this review, we would like to present some of the most interesting modern designs of walking robots: bipedal, quadropedal, hexopedal, and octopods. Their advantages and disadvantages are highlighted. It has been determined that structures with eight or more limbs are ineffective due to high level of electricity consumption. The use of more than six number of legs does not give noticeable advantages in profile cross-country ability or maneuverability, however, it allows to reduce the forces and moments of inertia forces due to decrease in mode coefficient (ratio of time spent by propulsor in support to time of entire step), and, consequently, smoother leg movements in swing phase.

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Section: Related Workmentioning

confidence: 99%