Overcoming a stack of rough cylinders by a six-legged robot

A method has been developed for overcoming obstacles in the form of a stack of rough cylinders of different radii by a six-legged robot. Two of the cylinders are lying on a horizontal plane and the third one is lying on the two mentioned above. The cylinders are under the influence of gravity, dry friction, and rolling friction. The equilibrium conditions of the system were found when the system is under the influence of a force due to the support of the robot on the system of cylinders. Using computer modeling tools, an algorithm for overcoming the stack that does not destroy the structure of the obstacle was developed. The results of numerical experiments and corresponding video materials are presented.