Browsing Кваліфікаційні роботи здобувачів вищої освіти кафедри авіаційних комп'ютерно-інтегрованих комплексів (НОВА) by Author "Innokov, Oleksandr Olegovich"
(National Aviation University, 2024-06-13) Innokov, Oleksandr Olegovich; Інноков, Олександр Олегович
This work develops a robot observer that can help rescuers speed up their work when searching for victims in a mountainous area. In recent years, there has been a great deal of research on robots, especially robots with legs, including bipedal, tripedal, quadrupedal and six-legged robots. The mechanical design of multi-legged robots certainly has advantages and disadvantages compared to wheeled robots. Multi-legged robots can successfully traverse uneven surfaces such as rocks, but they are not faster than wheeled robots. Of course, more leg configurations create their own problems, such as synchronizing the movement of each robot's legs to the desired position and coordinating their motion patterns. Mobile robots with legs as a locomotion system have been the subject of much research. But at the same time, legs have a number of problems. In fact, research on legged robots focuses on everything related to the movement and coordination of the legs during the robot's navigation. The main challenge in developing a legged robot is the coordination of the legs' degrees of freedom. It is the coordination of a large number of degrees of freedom that must be triggered in a simple movement of the robot from point A to point B. Precise coordination of walking movements, the precise coordination of the walking motion is to ensure that the dynamic forces generated during navigation keep the robot in balance. This is a major challenge. These limitations can be overcome by modeling statically. The dynamic balance of forces due to the robot's movements can be overcome by statically modeling it.
