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Effect of the deformability of structural links on the motion of a two-legged walking robot

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Abstract

The problem of the dynamics of parametric optimization of the motion of a walking robot is solved within the framework of a seven-link model with the elasticity of the structural components taken into account. The effect of the elasticity of the links on the kinematic, dynamic, and energy characteristics of the locomotion of the walking mechanism is studied.

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Authors and Affiliations

  1. Institute of Applied Problems of Mechanics and Mathematics, Academy of Sciences of the Ukrainian SSR, L'vov

    V. E. Berbyuk & I. O. Polovinko

Authors
  1. V. E. Berbyuk
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  2. I. O. Polovinko
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Translated from Matematicheskie Metody i Fiziko-Mekhanicheskie Polya, No. 25, pp. 76–79, 1987.

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Berbyuk, V.E., Polovinko, I.O. Effect of the deformability of structural links on the motion of a two-legged walking robot. J Math Sci 65, 1991–1994 (1993). https://doi.org/10.1007/BF01097487

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  • DOI: https://doi.org/10.1007/BF01097487

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