Optimization of motions of a universal multilink walking robot (Q1387008)

Some problems of planning the optimum programmed motions for a universal multilink walking robot capable of moving over complex surfaces arbitrarily inclined with respect to the horizontal surface are solved. A problem of time-optimal motion of the robot along a given track path is considered together with the problem of choosing a periodic gait ensuring the maximum average speed of motion. Optimal periodic gaits are found. Various types of gaits are compared. The overhead gait is shown to be faster than the sliding gait.