Kulakov

pp. 72-93

The article deals with motion control actuator bipedal walking robot on the program of path. A mathematical model of the tree-actuator robot, recorded by the apparatus of the block matrices and graph theory, presented in a way traditional for actuators with a simple kinematic chain. Presented, developed by the authors, the algorithms forming the trajectory of the robot on a horizontal plane and the results of their implementation on the operating experimental two-legged walking robot with electrohydraulic actuators .An algorithm for stabilizing the movement of the actuator robot controlled by changes of the moments on the feet and the block diagram of the stabilization system, which implements this algorithm. The results of experimental studies robot walking on a horizontal surface.

The way of synthesis of functions of traffic control of the biped walking robot in a mode of dynamic walking on an equal horizontal surface by means of the simplified mathematical model is presented.

And positions of the concept of construction of system of electrohydraulic drives of the biped walking robot (ДШР) for the extreme conditions, received by authors on the basis of experience of creation laboratory ДШР main principles are presented to MGTU of N.E.Baumana