The investigation of walking machines with movers on the basis of cycle mechanisms of walking

Briskin, E. S.; Chernyshev, V. V.; Малолетов, А. В.; Жога, В. В.

doi:10.1109/icma.2009.5246483

Cited by 14 publications

(6 citation statements)

References 1 publication

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“…In Russia, walking machines for weak and water-saturated soils are represented by the developments [4][5] of Volgograd State Technical University (Figure 1 d) and a new development of a prototype of a multi-purpose walking chassis (Figure 2). The overall dimensions of the walking chassis being developed are approximately 3 times smaller than those of the "Vosminog" robot.…”

Section: Resultsmentioning

confidence: 99%

“…Traditional vehicles in conditions of weak or water-saturated soil often lose their cross-country ability and destroy environmentally sensitive soil [1][2]. Walking propulsors, due to discrete and closer to static interaction with the supporting surface, destroy the soil to a lesser extent and have higher capabilities for ground and profile cross-country ability [3][4][5]. There is also a reduction in energy consumption for resistance to movement -for walking vehicles, unlike wheeled and tracked vehicles, the soil is not an obstacle to movement, but only requires the necessary power expenditure for its compaction.…”

Section: Introductionmentioning

confidence: 99%

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Walking machines for operation on non-cohesive and water-saturated soils

Kalinin,

Chernyshev,

Vetlitsyn

et al. 2024

E3S Web Conf.

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The widespread use of wheeled and tracked vehicles in forestry and agriculture is one of the reasons for compaction and subsequent soil degradation. At the same time, it is known that walking machines destroy the upper ecologically vulnerable soil layer to a lesser extent. The main types of existing walking machines that can work on weak-bearing soils are considered. It has been shown that walking movers of the cyclic type are characterized by the greatest simplicity and reliability. A prototype of a multi-purpose walking chassis (weighing about 200 kg) with cyclic propulsors has been developed. A number of technical solutions have been proposed aimed at increasing its adaptability, profile cross-country ability and maneuverability. The walking chassis prototype was tested in real terrain. Tests have confirmed its high cross-country ability and excellent traction and traction properties. In terms of the ecology of the contact effect on the soil, the walking machine is also superior to its analogues with traditional types of propulsors. The results of the work may be in demand when developing walking machines and robots for new soil-saving technologies in forestry and agriculture.

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Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Walking machines for operation on non-cohesive and water-saturated soils

Kalinin,

Chernyshev,

Vetlitsyn

et al. 2024

E3S Web Conf.

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“…Such as walking ones with cyclic type of mover. Each mover consists of 2 paired walking mechanisms, cycle type, cinematically completely bound and work in antiphase [14,15]. In result at each moment at least one of walking mechanisms is in a contact with ground, thus, coefficient of the mode of this mover is equal to 1.…”

Section: Development Of Walking Robots With Cyclic Type Of Moversmentioning

confidence: 99%

“…In particular, the 5-ton walking robot "Vosminog" (Fig. 2, a) was developed [14,16]. Walking mechanisms are cycle (walking mechanisms of Umnov Chebyshev [17] have been used), on the base of 4-linked flat mechanisms with jointly fixed foots (Fig.…”

Section: Development Of Walking Robots With Cyclic Type Of Moversmentioning

confidence: 99%

“…For shape passableness increasing in forward movement mode in walking device the system of passive adaptation of the foot to supporting surface has been realized. The supporting point trajectory of walking mechanism had been synthesized, it provides rising of toe of the foot in transferal phase at the expense for its kinematics and friction in foot joint, both during straight and reverse (back action) movement [14]. In a last case toe and heel exchanging their places in angle φ4.…”

Section: Development Of Walking Robots With Cyclic Type Of Moversmentioning

confidence: 99%

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Development of the walking mover for underwater walking vehicle

Chernyshev¹,

Arykantsev²,

Kalinin³

et al. 2016

DAAAM Proceedings

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Purpose of the work is to investigate possibility of practical application of walking machines for seabed movement. In particular, main tasks of investigation: tractional properties, passableness, methods of control. Technical features of walking machine "Vosminog" and underwater walking machine MAK-1, designed for shallow work, are noted in this paper. Advantages of walking machines in underwater conditions are described. Possibilities to improve adaptive characteristics and passableness of vehicle's cyclic walking locomotors are considered. Some of methods for motion control of underwater walking robot under conditions of incomplete and ambiguous understanding of the current situation are tested. Results of research and tests in real conditions of walking robots, which moves on sea bottom, are presented in the paper. It have shown that in underwater conditions walking type of mover for robots by roadhold properties and ground passableness essentially exceed traditional type of mover. Results of work can be demand during development of robotic systems, designed for advanced industrial technology for seabed resources mastering.

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