ISSN 0021-3454 (print version)
ISSN 2500-0381 (online version)
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8
Issue
vol 60 / AUGUST, 2017
Article
UDC 62.50

GENERATION OF STIMULI PROVIDING MOTION OF TWO-LEGGED WALKING ROBOT IN SAGITTAL PLANE

Y. . Kotelnikov
ITMO University; docent


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Abstract. The problem of synthesis of comfort movement of two-legged walking robot is analyzed on the base of assignment of programmed trajectories for pelvis and foots in Cartesian coordinates. An analytical approach based on inverse kinematic problem is proposed for generation of input signals fed to executive mechanism drives.
Keywords: kinematic chain, comfortable motion, programmed trajectories, direct and inverse kinematic problems, zero-moment point.