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Forming a Simplified Motion Path of a Bipedal Walking Robot
| Authors: Kovalchuk A.K., Kulakov D.B., Semenov S.E. | Published: 30.07.2013 |
| Published in issue: #3(612)/2011 | |
| Category: Technology and Process Machines | |
| Keywords: bipedal walking robot, motion path, harmonic functions, motion control synthesis |
The article presents a method of forming a motion path of an actuator of a bipedal walking robot in the dynamic walking mode. The path is formed as periodic cycles of motion, described by piecewise harmonic functions with a small number of variable parameters.