Abstract:

: In the article, the main body deviation of multilegged walking robot with elastic legs has been theoretically studied relative to the coordinate axes; the main reasons causing fluctuations of walking robots body while moving have been defined; the equations of the robot motion, its dynamic model, and the results of equations have been provided; theoretical and experimental data have been compared.

Keywords: multilegged walking robot; support polygon; hardness; damping; moment of inertia.