Now tens of scientific groups in the world are developing this problem. Walking machines can be divided into two parts: dynamical stability (with a few legs) and statical stability (multilegged) machines. The letter can be divided into vehicles of profile practicability and vehicles of ground practicability. The vehicles of ground practicability can be used for moving on relatively flat terrain and on the soils with poor carrying layer (sand, marshland, poor earth road), also on the soils with ecologically injured layer (tillage, tundra, permafrost).
Following vehicles are dynamical stability machines:
Ambler, USA, 1988-92 years;
Adaptive Suspension Vehicle, USA, 1982-90 years;
Dante II, USA, 1993-94 years;
MECANT, Finland, 1988-93 years.
Also see catalogue of walking machines on www.fzi.de.
One of perspective directions of research work in this field is developing of the simplest plantigrade vehicles. The walking machines designed in the department of theoretical mechanics of VSTU are of this type.
Now we developed several pre-production models of walking machines:
Walking Support for Sprinkling Machine "Kuban"
Transport Walking Machine.
Walking Transport-Technological Mobile System.
Look a short film (0,8 MB) about working the walking mashine on swamp.
This work is executed at financial support of the Russian Fund of Basic Researches (grant 99-01-01242, 02-01-06447, 02-01-15000к) and grants of Ministry of education of the Russian Federation: "Research activities of the higher institutes in the field of the transport", "Research activities of the higher institutes in the field of the industrial technologies".
Some of results of this work described in the following papers:
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