 | | Mechanics of Solids
A Journal of Russian Academy of Sciences | | Founded
in January 1966
Issued 6 times a year
Print ISSN 0025-6544
Online ISSN 1934-7936 |
Archive of Issues
| Total articles in the database: | | 12854 |
| In Russian (Èçâ. ÐÀÍ. ÌÒÒ): | | 8044
|
| In English (Mech. Solids): | | 4810 |
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| << Previous article | Volume 44, Issue 6 / 2009 | Next article >> |
| E. S. Briskin, V. V. Zhoga, and A. V. Maloletov, "Control of Motion of a Legged Locomotion Machine with Minimal-Power Motor," Mech. Solids. 44 (6), 828-836 (2009) |
| Year |
2009 |
Volume |
44 |
Number |
6 |
Pages |
828-836 |
| DOI |
10.3103/S002565440906003X |
| Title |
Control of Motion of a Legged Locomotion Machine with Minimal-Power Motor |
| Author(s) |
E. S. Briskin (Volgograd State Technical University, pr-t Lenina 28, Volgograd, 400131 Russia, dtm@vstu.ru)
V. V. Zhoga (Volgograd State Technical University, pr-t Lenina 28, Volgograd, 400131 Russia, zhoga@vstu.ru)
A. V. Maloletov (Volgograd State Technical University, pr-t Lenina 28, Volgograd, 400131 Russia, maloletov@gmail.ru) |
| Abstract |
We consider the problem of control of motion of a many-legged statically stable locomotion machine ensuring the choice of a minimal-power motor. We show that the machine frame can be used as a kinetic energy recuperator, thus providing a significant decrease in the reactive power. |
| Keywords |
legged locomotion machine, energy, walking propeller, direction, power |
| References |
| 1. | D. E. Okhotsimskii and Yu. F. Golubev,
Mechanics and Control of Motion of Automatic Legged Vehicle
(Nauka, Moscow, 1984)
[in Russian]. |
| 2. | E. S. Briskin, V. V. Zhoga, V. V. Chernyshev, and A. V. Maloletov,
Foundations of Computation and Design of Legged Locomotion Machines with Cyclic Propellers
(OOO "Izd-vo Mashinostroenie-1", Moscow, 2006)
[in Russian]. |
| 3. | H. A. Warren,
"CLAWAR2 - Mobile Machines Operating in Outdoor Unstructured Terrains,"
in Climbing and Walking Robots: Proc. 5th Intern. Conf. CLAWAR 2002
(London, 2002),
pp. 907-916. |
| 4. | V. V. Lapshin,
"Model Estimates of Power Inputs of a Walking Vehicle,"
Izv. Akad. Nauk. Mekh. Tverd. Tela,
No. 1, 65-74 (1993)
[Mech. Solids (Engl. Transl.)]. |
| 5. | G. V. Kreinin (Editor)
Machine Dynamics and Control of Machines: Reference Book
(Mashinostroenie, Moscow, 1988)
[in Russian]. |
| 6. | V. V. Lapshin, D. E. Okhotsimskii, and A. K. Platonov,
"On a Method for Energy Recuperation in Motion of a Legged Vehicle,"
Izv. Akad. Nauk SSSR. Mekh. Tverd. Tela,
No. 5, 67-71 (1986)
[Mech. Solids (Engl. Transl.)]. |
| 7. | E. S. Briskin, V. V. Chernyshev, V. V. Zhoga,
A. V. Maloletov, N. G. Sharonov, and N. E. Frolova,
"Design Concept, Dynamics, and Control of Motion of Legged Locomotive Machines.
Pt. 3: Algorithms for Control of Motion of Walking Machines of "Vos'minog" Series and Experimental Studies,"
Mekhatronika, Avtomatizatsiya, Upravlenie,
No. 7, 13-18 (2005). |
| 8. | R. V. Rotenberg and N. I. Burlachenko,
"On Physiological Criteria for Smoothness of a Car Motion,"
Avtomobil'naya Promyshlennost',
No. 2, 27-30 (1966). |
| 9. | V. V. Beletskii,
Two-Legged Walk: Model Problems of Dynamics and Control
(Nauka, Moscow, 1984)
[in Russian]. |
| 10. | E. S. Briskin,
"On the General Dynamics and Rotation of Walking Machines,"
Probl. Mashinostr. Nadezhn. Mashin,
No. 6, 33-39 (1997). |
|
| Received |
20 September 2007 |
| Link to Fulltext |
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