ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)

vol 64 / January, 2021

DOI 10.17586/0021-3454-2017-60-9-875-881

UDC 681.51


D. N. Bazylev
ITMO University, Saint Petersburg, 197101, Russian Federation; postgraduate

D. D. Ibraev
ITMO University; student

A. A. Margun
ITMO University, Saint Petersburg, 197101, Russian Federation; Senior Scientific Researcher

K. A. Zimenko
ITMO University, Saint Petersburg, 197101, Russian Federation; Senior Scientific Researcher

A. S. Kremlev
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate professor

P. A. Popchenko
ITMO University, Department of Computer Science and Control Systems; Student

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Abstract. A control system of walking robot Darwin-OP moving along a given trajectory is presented. The robot trajectory is a red line recognized by built-in videocamera. The control system consists of PD controller for angular positions of the robot head (for tracking the desired trajectory) and PD controllers for the longitudinal and transverse velocities of the robot. Evaluation of the effectiveness of the proposed solution is carried out by a third-party videocamera mounted above the robot. Experimental results demonstrate a small enough deviation from the desired trajectory.
Keywords: line tracking, walking robot, machine vision

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