Posts Tagged ‘D.E. Okhotsimsky’

1977 – IPM Six-Legged Walker with Laser Scanning – Okhotsimski et al (Soviet)

 1977   IPM Six Legged Walker with Laser Scanning   Okhotsimski et al (Soviet)

The insect-like walkers were referred to as "cockroaches".

IPM 1976 robot 1977   IPM Six Legged Walker with Laser Scanning   Okhotsimski et al (Soviet)

In the early 70s, at the Institute of Applied mathematics (IPM) of the Russian Academy of Sciences in Moscow, a six-legged walking machine controlled on a base of a mathematical model of motion control was developed. The machine motion and the terrain were rendered on a display. Motion control algorithms were developed for a walking machine on rugged terrain in both automated and operator control modes. The problems of control were also considered for a dynamic model of a statically stable walking machine (Okhotsimski & Platonov, 1973, 1976).

See video simulation here – "Taking an Ant for a Walk".

In this small video compilation there is a few seconds of the simulation under joystick control.


 1977   IPM Six Legged Walker with Laser Scanning   Okhotsimski et al (Soviet)

The first six-legged machine was equipped with a laser scanning range finder and is connected with a two-computer system. The walker could move around isolated obstacles which were detected remotely by a scanning distance-measuring system, and could climb over obstacles (see Fig. 2.9).
The parameters of the machine are the follows: body length 0,6 m, body width 0,25 m, weight 56 kg, length of leg 0,4 m, velocity 0,2 m/s (Okhotsimski & Platonov, 1976; Okhotsimski et al., 1978).

References
Okhotsimski, D. & Platonov, A.(1973). Control algorithm of the walking climbing over obstacles. In Proc. of the Third Intern. Joint Conference on Artificial Intelligence. Stanford, California.
Okhotsimski, D. & Platonov, A.(1976). Walker’s motion control. In Proc. of CISM-IFToMM Symp. “ROMANSY-76”. Warsaw, Poland.
Okhotsimski, D., Platonov, A., Gerken-Gubanov, G., Kuznetzov, V., Devjanin, E., Lensky, A., Gurfinkel, E. & Schneider, A.(1978). Integration walking robot
simulation and modeling. In 7th Congress IFAC,, , vol. 2, pp. 917–924. Helsinki: Pergamon Press.
Okhotsimsky, D. & Golubev, Y.(1984). Motion mechanics and control of motion an automated walking vehicle, p. 312. Moscow, (in Russian): Publishing House “Nauka”.
Okhotsimsky, D., Platonov, A., Kiril’chenko, A., Lapshin, V. & Tolstousova, V.(1992). Walking machines. Advances in Mechanics. Keldysh Institute of Applied Mathematics, Moscow 15 (1–2), 39–70.

Okhotsimsky pic 1977   IPM Six Legged Walker with Laser Scanning   Okhotsimski et al (Soviet)

Okhotsimsky is on the right.


There was a 'family' of these walking machines. See also "Masha" and another of Gurfinkel's walking machine here (not yet posted).

Leningrad hexapods p0 x640 1977   IPM Six Legged Walker with Laser Scanning   Okhotsimski et al (Soviet)


1976 – “Masha” Hexapod – Gurfinkel et al (Soviet)

russian walker masha topfotoRIA04 016184 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

1977 masha gurfinkel x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

Masha tm 1990 06p6 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

gurfinkel hexapod px x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

Mascha diag x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

Masha 1983 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

Masha being used in some force-feedback experiments. The experiment here to feed a cylinder into an inclined funnel.

 1976   Masha Hexapod   Gurfinkel et al (Soviet)

See Devjanin-Schneider paper here.


masha p2 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

MASHA Gorinevsky p2 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

MASHA Gorinevsky x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

The above three images show experimentation by Gorinevsky.  His paper is available here.

Gorinevsky produced a video of the walking machine. After many media transformations, the quality is poor. See here.   1976   Masha Hexapod   Gurfinkel et al (Soviet)


Masha x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

Hexapod 1976 RobTech3ap1 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

The above  image, I believe, is incorrectly attributed to Bessonov.

Note also the due to incorrect spelling from the old "Walking Machine Catalog", some sites know this walking vehicle as "Mascha".


"Masha", a hexapod walking vehicle an control system designed at the Institute for Mechanics at Moscow State University and at the Institute for Problems of Information Transmission at the USSR Academy of Sciences.


Leningrad hexapods p0 x640 1976   Masha Hexapod   Gurfinkel et al (Soviet)

See here, here, and here for the other Leningrad Mechanical Institute models (links yet to be added).