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Stabilization of movement of biped walking robot with torque on feet control
| Authors: Kovalchuk A.K. | Published: 30.07.2013 |
| Published in issue: #4(613)/2011 | |
| Category: Technology and Process Machines | |
| Keywords: bipedal walking robot, motion trajectory, harmonic functions, motion control synthesis |
The article describes an algorithm of movement stabilization of a biped walking robot with torque on feet control, ensuring its movement along various desired trajectories under external force disturbances on an actuating mechanism, and when a bearing surface position differs from the expected one.