ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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vol 64 / January, 2021
Article

DOI 10.17586/0021-3454-2020-63-12-1073-1080

UDC 621.865.8

AUTOMATIC COMPONENT OF A WALKING MACHINE MOTION CONTROL SYSTEM

V. V. Mikhailov
St. Petersburg Institute for Informatics and Automation of Russian Academy of Sciences (SPIIRAS), Department of Computer Systems and Networks; Associate Professor


N. . Ivanov
PhD; St. Petersburg State University of Aerospace Instrumentation, Department of Information and Network Technologies;


D. Y. Kuzmin
St. Petersburg Federal Research Center of the RAS;


Abstract. An automaton component of the motion control system for a six-legged robot is presented. Hybrid automata for controlling the movement of feet and changing the phases of movement of individual limbs have been constructed. Matrices of the main types of statically stable gait of a robot are presented. Gait automata have been developed that coordinate the operation of hybrid limb automatons to provide a discrete gait mode with a sequential change in the phases of their movement and with continuous combination of the phases of movement of the body and transfer of an idle group of limbs. The specific object of control and modeling is an insectomorphic walking machine being developed at SUAI-JSC "Arsenal-07".
Keywords: walking machine, gait, phases of limb movement, gait matrix, hybrid automaton

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