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)


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