Динамика изменения опорных реакций двуногого шагающего движителя надеформируемыхгрунтах

The results of dynamic modeling of the walking propeller interaction with an ecologically raw soil are discussed. The soil is modeled by viscous elastic plastic medium. It is shown that at the moment of overstep leg; reactions of the soil under the feet can significantly outperform static. The obtained results are going to be used to ensure the sustainability of walking robots on real grounds.