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Russian Journal of Nonlinear Dynamics, 2019, Volume 15, Number 4, Pages 623–632
DOI: https://doi.org/10.20537/nd190421 (Mi nd689) 		 
This article is cited in 4 scientific papers (total in 4 papers)

An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction

L. Yu. Vorochaevaa, S. I. Savinb, A. S. Yatsuna

a Southwest State University, ul. 50 let Oktryabrya 94, Kursk, 305040 Russia
b Innopolis University, ul. Universitetskaya 1, Innopolis, 420500 Russia
Full-text PDF (375 kB) Citations (4)
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DOI: https://doi.org/10.20537/nd190421
Abstract: This paper deals with the gait of a robot crawling on a horizontal rough surface with dry friction. A distinctive feature of the device is the presence of two supporting elements with a controlled coefficient of friction, which allows for alternately fixing the supports on the surface. As a result of numerical simulation, the patterns (laws) of influence on the motion characteristics of the mass-dimensional and control parameters of the robot, as well as the parameters of the supporting surface, are obtained, so that it is possible to find application in the design of the specified devices.
Keywords: crawling robot, supporting element, controlled friction coefficient, dry friction model.
Funding agency Grant number
Ministry of Education and Science of the Russian Federation MK-200.2019.1
This work was carried out within the framework of the Presidential Grant MK-200.2019.1.
Received: 31.05.2019
Accepted: 27.07.2019
Bibliographic databases:
Document Type: Article
MSC: 93B18, 93B52
Language: English
Citation: L. Yu. Vorochaeva, S. I. Savin, A. S. Yatsun, “An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction”, Rus. J. Nonlin. Dyn., 15:4 (2019), 623–632
Citation in format AMSBIB
\Bibitem{VorSavYat19}
\by L. Yu. Vorochaeva, S. I. Savin, A. S. Yatsun
\paper An Investigation of Motion of a Crawling Robot with Supports with Controllable Friction
\jour Rus. J. Nonlin. Dyn.
\yr 2019
\vol 15
\issue 4
\pages 623--632
\mathnet{http://mi.mathnet.ru/nd689}
\crossref{https://doi.org/10.20537/nd190421}
\elib{https://elibrary.ru/item.asp?id=43271415}
\scopus{https://www.scopus.com/record/display.url?origin=inward&eid=2-s2.0-85085065967}
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  • https://www.mathnet.ru/eng/nd/v15/i4/p623
    • This publication is cited in the following 4 articles:
    Citing articles in Google Scholar: Russian citations, English citations
    Related articles in Google Scholar: Russian articles, English articles
    		Russian Journal of Nonlinear Dynamics
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    References:23
     
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