Dynamics and control of aerial mobile legs

A wire suspended mobile robot for telecommunication cable was proposed, which is equipped with legs by which it walks suspended from cables. A linkage mechanism creates a gait kinematically which causes the robot legs to touch the path at intervals. That is why the robot moves stably and avoid obstacles simultaneously in construction and maintenance work. This paper analyzes the robot kinematics and dynamics, and proposes a control method in minimum driving energy. Fine leg design through kinematic analysis affords the desired motion allowing the robot to walk parallel to the path at approximately constant speed. Inverse kinematics reduces remaining fluctuations of optimum mobile speed. After deducing state equations through dynamic analysis, PID control simulation is performed to evaluate system response and to estimate optimum feedback gain