News on Modeling of Walking Robot Critical Positions

Abstract

The principal objective of our study is to emphasize the strategies for the walking robot mathematical model to traverse an uneven terrain, respecting the hypothesis of environment model defined by us. The multiple aspects on axiomatic systems, with possible application to environment’s mathematical model axiomatization, open an interesting new way of research and is exposed in the first part of the paper. Our study on the walking robot begins with formulation of improved mathematical model for physical identification derived from geometrical identification of critical position in particular case of waking robot leg. The physical identification of the critical position is analyzed in the paper on our concrete case of walking robot leg mathematical model. The specialized algorithm performed by us is used for verification of the theory. The new directions of research, opened by our analyses in this area, are described.