Insectomorphic robot maneuvering on a movable ball

Abstract

The problem of generating motions of a six-legged robot with the help of a ball rolling on a horizontal support plane is investigated. The robot motion is synthesized in order to climb on a ball from a support plane, accelerate or decelerate the ball in the directions of the longitudinal or lateral axes of the body. Robot provides its dynamic stability on the ball. The goal of robot's efforts is to remove the ball to a given place on the support plane. Robots behavior is accomplished with the help of dry friction forces only. The motion of the body and legs is executed by imposing servo constraints in the form of adaptive step cycles of legs and the required geometrical and dynamical properties of the body motion. The results of 3D computer simulation of the controlled robot dynamics are presented. © 2010 Springer-Verlag.