MOTION CONTROL OF BIPED WALKING ROBOTS
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The problem of planar motion control is considered for a walking robot consisting of a ponderous trunk and a pair of imponderable two-link legs suspended to a point of the trunk. The two-stage control algorithm is constructed to follow the prescribed programmed motion. At the first stage the vertical stabilization is provided through the moments at joints. At the second stage of the control problem solution the longitudinal and angular stabilizations are attained due to the above moments as well as the choice of the sequential step length and duration. The overall control algorithm (synthesis of the joint moments, choice of step length and duration) is described by finite formulae. The report is illustrated by a film taken off the display screen.
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