The Application of the Optimal Swinging Method for a Six-Legged Robot’s Getting Out from the Upside-Down Position

To solve the problem of rescuing a multilegged robot from an emergency upside-down position, an original method is used to find optimal control of the oscillation amplitude in the vicinity of the equilibrium position for a scleronomic mechanical system with an underactuated one oscillatory degree of freedom. The control is implemented by changing the position of a specially selected group of legs relative to the robot’s body. The effectiveness of the developed control algorithm is confirmed by the results of computer simulation of the full dynamics of the robot.