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Preprints of the Keldysh Institute of Applied Mathematics, 2018, 068, 17 pp.
DOI: https://doi.org/10.20948/prepr-2018-68
(Mi ipmp2430)
 

Water body crossing by a six-legged robot on a raft with a cargo

Yu. F. Golubev, V. V. Koryanov
References:
Abstract: Motion of the robot is formed with the aim the crossing with a cargo from one side onto the other side of the water body in the simplest case, when the robot initially pushes the raft from the shore. The proposed control algorithm provides for the transfer of a cargo from a shore to the raft, transporting cargo on a moving raft and transfer of the cargo from the raft to the other shore. The algorithm was worked out by means of computer simulation. The results of calculations show the performance of the algorithm in the presence of motion information, adequate for management purposes.
Keywords: raft, buoyancy force, water resistance, cargo, six-legged robot, crossing, water body.
Funding agency Grant number
Russian Foundation for Basic Research 16-01-00131_а
Bibliographic databases:
Document Type: Preprint
UDC: 531.38
Language: Russian
Citation: Yu. F. Golubev, V. V. Koryanov, “Water body crossing by a six-legged robot on a raft with a cargo”, Keldysh Institute preprints, 2018, 068, 17 pp.
Citation in format AMSBIB
\Bibitem{GolKor18}
\by Yu.~F.~Golubev, V.~V.~Koryanov
\paper Water body crossing by a six-legged robot on a raft with a cargo
\jour Keldysh Institute preprints
\yr 2018
\papernumber 068
\totalpages 17
\mathnet{http://mi.mathnet.ru/ipmp2430}
\crossref{https://doi.org/10.20948/prepr-2018-68}
\elib{https://elibrary.ru/item.asp?id=32809201}
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    Препринты Института прикладной математики им. М. В. Келдыша РАН
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