Solving the Problem of Overcoming a Staircase Flight by a Multi-Link Crawling Robot

The paper considers a three-link crawling robot combining the capabilities of a caterpillar-, snake- and worm-like crawling systems, as well as equipped with controlled supports with a variable coefficient of friction. An algorithm of overcoming a flight of stairs is described using the example of a device crawling onto one step. The specified algorithm consists of two stages: positioning (not studied in this paper) and the crawling onto a step. The latter is divided into 12 stages, during each of which two or three supports are fixed on the surface. Stages 1-11 occur in a vertical plane parallel to the flight of stairs (caterpillar-like movement), and stage 12 - in the horizontal plane (serpentine-like movement). Also, at a number of stages, the elongation / shortening of the links is observed (a worm-like principle of movement). The execution adequacy of the algorithm of crawling onto a step is confirmed by the results of a numerical experiment.