Many territories of Ukraine remain mined after the retreat of enemy troops from previously occupied territories. Many explosive objects remain in hard-to-reach places, for example, ventilation ducts, mines, cellars, etc. Such objects are difficult to detect by visual inspection and cannot be removed and destroyed without special means.
The modern level of technology has made it possible to build small-sized walking robots - quadropods (have four limbs) and hexapods (have six limbs). And recent developments have shown that such structures can move not only on horizontal surfaces, but also vertically. Due to the forces of dry friction between the limbs and the surface. With this method of movement, the limbs of the robot are pressed against the opposite walls, thereby fixing the robot at a height. Currently, this method works only in laboratory conditions, that is, in previously known conditions and with programmed behavior. In real conditions, the environment is previously unknown, so existing developments need to be refined. A review of works showed that in existing models, information about the environment comes only from the vision system. Therefore, this paper proposes the use of touch sensors to determine the presence of contact of the limb with the surface for assessment and adjustment of the pressing force, which in the future will make it possible to take into account the energy consumption of the power source and implement economical and efficient movement.
Compared to quadropods, hexapods have greater stability and can perform tasks in hard-to-reach places, therefore, in this work, the main attention is paid to walking hexapods.
Ekonomichna pravda. (2023, August 21). Desiatky rokiv ta miliardy dolariv. Koly rozminuiut ukrainski polia ta mista? https://www.epravda.com.ua/publications/2023/03/7/697737/
Fang, G., & Cheng, J. (2023). Advances in Climbing Robots for Vertical Structures in the Past Decade: A Review. Biomimetics, 8(1), 47. https://doi.org/10.3390/biomimetics8010047
Force Sensing Resistors ®. (n.d.). Retrieved August 22, 2024, from https://uamper.com/products/datasheet/FSR400.pdf
I. Platov, O. Pavlovskyi, Pavlovska, Y., D. Pivtorak, & O. Sapehin. (2023a). Walking Hexapod for Demining Territory of Postwar Ukraine. General Recommendations. https://doi.org/10.3997/2214-4609.2023510045
I.M. Platov, & O.M. Pavlovskyi. (2024). JUSTIFICATION FOR THE CONTROL SYSTEM FOR VERTICAL MOVEMENT OF A SMALL-SIZED WALKING ROBOT. Scientific Notes of Taurida National v I Vernadsky University Series Technical Sciences, 1(3), 187–194. https://doi.org/10.32782/2663-5941/2024.3.1/27
Iryna Solomko. (2024, June 26). “My ne mozhemo hovoryty pro vidnovlennia Ukrainy bez rozminuvannia terytorii”. Interviu iz zastupnykom... Holos Ameryky Ukrainskoiu; Holos Ameryky Ukrainskoiu. https://www.holosameryky.com/a/interview_rozminuvanny_ukrainy_bezkaravay...
Lin, X., Krishnan, H., Su, Y., & Hong, D. W. (2018). Multi-Limbed Robot Vertical Two Wall Climbing Based on Static Indeterminacy Modeling and Feasibility Region Analysis. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). https://doi.org/10.1109/iros.2018.8593734
MG995 High Speed Metal Gear Dual Ball Bearing Servo. (n.d.). https://www.electronicoscaldas.com/datasheet/MG995_Tower-Pro.pdf
Platov I.M., Pavlovskyi O.M. (2023b). Zmenshennia pokhybky systemy zoru mobilnoho robota na osnovi lazernoho dalekomira vl53l0x. Integrated Intellectual Robotechnical Complexes (ІІRTC-2023). 16th International Science and Technical Conference, May 23-24th, 2023, Kyiv, Ukraine – К.: NAU, 2023. – 402 p. (collected articles)
Polishchuk, M. M. (2018). Pidvyshchennia enerhoefektyvnosti robotiv vertykalnoho peremishchennia. Adaptyvni systemy avtomatychnoho upravlinnia, 2(33), 97–105. https://doi.org/10.20535/1560-8956.33.2018.164679
Robot Leg Torque Tutorial. (2018, September 17). RobotShop Community. https://community.robotshop.com/tutorials/show/robot-leg-torque-tutorial
Zhang, J., Lin, X., & Hong, D. W. (2021). Transition Motion Planning for Multi-Limbed Vertical Climbing Robots Using Complementarity Constraints. ArXiv (Cornell University). https://doi.org/10.1109/icra48506.2021.9562014