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Memorias de investigación
Artículos en revistas:
Maintenance of walking robot in steady position by means of vibration
Año:2011
Áreas de investigación
  • Ingeniería eléctrica, electrónica y automática
Datos
Descripción
A walking robot is considered. For leg lightness, it is suggested in some cases to miniaturize its cross section. At that buckling of the leg rectilinear form is possible under dead weight. To keep the rectilinear form, it is proposed to place a vibroexciter for vertical oscillations in the bottom of the leg. It results in parametrical oscillations that make onset for the effect of vibrational stabilization of the rectilinear form. This effect can be treated as an increase of flexural stiffness of the flexible rod. Scheme of the leg?s model in the form of flexible rod with distributed mass and concentrated mass at its free end is developed. Taking into account the finite rotations of its sections, we derive the equation of oscillations for the rod. It is shown that the effect of rectilinear form stabilization occurs under certain magnitudes of vibration frequency and amplitude. Stability conditions for obtained solutions are analyzed.
Internacional
No
JCR del ISI
No
Título de la revista
International Journal of Humanoid Robotics
ISSN
02198436
Factor de impacto JCR
Información de impacto
Volumen
8
DOI
10.1142/S0219843611002320
Número de revista
1
Desde la página
13
Hasta la página
25
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: G. Panovko
  • Autor: E. Myalo
  • Autor: Teodor Samuilovich Akinfiev Kutnik (UPM)
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC
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