New Method of Artificial Motion Synthesis and Application to Locomotion Robots and Manipulators

Summary According to proposed method artificial motion synthesis is performed respecting the complete dynamics of the considered system. Dynamic control procedure consists in deviding the system into two parts, first one performing prescribed, second one the prescribed and compensating motions, depending on the dynamic state of system: nominal or perturbed. Control is performed in suboptimal way, reducing large to small perturbations by means of transferring system stably to nearest precalculated state (synergy), leading it to preset end - point. Examples of artificial locomotion and manipulation synthesis are given.