Six-Legged Robot Overturn from an Emergency Position on the Back Under the Influence of Hindrance

A method of swinging of the six-legged robot to ensure its overturn from the “upside down” position is proposed. As a support, we consider a horizontal plane, an inclined plane with a slight slope towards the flip, a horizontal plane with a pit and optionally with a bump next to it. It is shown that the overturn is possible with the help of cyclic movement of the legs, if the body has an upper shell in the form of a truncated cylinder. Specifics of swinging due to the slope, the pit and the bump are shown. The legs on the pre-chosen edge of the body through which the flip should occur, are passive, and straightened along the body so that they do not interfere with the flip. The legs on the opposite edge are active; they perform synchronous movement in a plane perpendicular to the longitudinal axis of the body, with a fixed angle in the knee. The results of simulation of the full dynamics of the robot in contact with the support by means of the “Universal mechanism” software package are presented.