Positional control on cyclic trajectories in the dynamic model of a walking robot.

Robotization of work on the inspection of the technical condition of structures will ensure complete human safety and significantly increase their productivity and accuracy. It is especially important to use robots in hard-to-reach areas of buildings and structures, after man-made and natural impacts. The paper considers the solution of the synthesis problem of controlled motion of a biped robot as a solution of differential-algebraic equations system. To realize control based on such a system, the constraint equation contains functions that determine the program motion of the robot body points, functions that specify the motion of the foot points of walking movers, and functions that ensure the stability of the robot's position by moving some auxiliary points that are included in the additional constraint equations. The paper proves that the trajectories of the foot points are well interpolated by self-oscillating systems. The connection of the trajectories of the foot points with the motion of the body allows you to plan the foot motion when the robot moves in any direction, turns and changes the height of the supporting surface. [ABSTRACT FROM AUTHOR]