On controlling the adaptation of orthogonal walking movers to the supporting surface

On the optimal modes of controlled transfer of walking propulsion devices

“…Equations ( 10) are solved at each stage with regards to boundary conditions (7), (8). The optimality of foot transfer according to selected criterion (3) at each stage together with the choice of control parameters  1 , U provide the optimality of entire movement mode [4].…”

“…For walking robots with orthogonal-rotary propulsion devices, for example, for the "Ortonog" machine (Figure 1), the law of vertical movement of the propeller foot is established in accordance with the optimality criterion consisting of several indicators [7] and separately horizontal [8].…”

Some problems of controlling the cable propulsion devices of mobile robots

“…The propulsion device can be moved to a new position along different paths, in accordance with various laws depending on the surface profile [22]. The basis for the choice of transfer laws is the criterion of the minimum heat loss A in engines [23] in the form…”

On the Optimal Modes of Controlled Transfer of Walking Propulsion Devices

“…For walking robots with orthogonal-rotary propulsion devices, for example, for the "Ortonog" machine (Figure 1), the law of vertical movement of the propeller foot is established in accordance with the optimality criterion consisting of several indicators [20] and a separate horizontal [21].…”