Passive foot control in cyclic walking mechanism

In the paper discussed results of investigation of increasing of shape passableness and adaptability to terrain for walking machines and robots with cyclic movers types. Usage of cyclic walking movers allows not to care about gait safety and stability and exclude the necessity in controlled adaptation system. By the other hand, strict trajectory of support points of cyclic type of walking mechanisms restricts abilities of adaptation to support surface and shape passableness of machine. In the paper considered the possibility of passive control of angular position of foot with hinge joint in transfer phase. Cyclic walking mechanism with one controlled degree of freedom was offered, it provides rising of the toe of foot with hinge joint both in straight and reverse movement (without entering an additional controlled actuator). Considered some features of synthesis of similar walking mechanisms. Presented the examples of their design in walking machines, intended for works at weak and waterlogged grounds, the results of real experiments are also shown. Presented, that passive foot control of cyclic mover significantly increases abilities of walking machines to adjust to rough ground and allows to overcome obstacles, which higher than height of support point of walking mechanism by more than two times. Some attention is devoted to the tasks of movement control of walking robotic systems with movers of cyclic type in condidtions of incomplete and ambiguous understanding about obstacle.