Overcoming isolated cylindrical obstacles by a six-legged robot

A method has been developed for overcoming obstacles in the form of isolated cylinders of large radii and a set of several isolated cylinders of small radius lying on a horizontal plane under the influence of gravity, dry friction and rolling friction by a six-legged robot. It was found that if the radius of a single cylinder is comparable to the height of the robot, then it is possible to overcome such an obstacle by giving the cylinder the appropriate initial angular velocity. The results of a computer simulation and corresponding video materials are presented.