Prediction of Mobility of High-Speed Caterpillars in Curvilinear Motion

Based on investigations of parameters of turning of caterpillars with different control mechanisms and specific power, a method to predict their mobility in curvilinear motion is suggested. A coefficient of the phase intensity of adjusting the motion direction serves as a criterion of the control complexity. The method, founded on imitation modeling of the caterpillar motion, allows one to calculate speeds with various parameters of accepted constraints and to solve an inverse problem on improving the speed qualities by eliminating some constraints due to the motion control automation.