DOI 10.17586/0021-3454-2020-63-3-278-285
UDC 681.51
Research in Biped Robot Platform Oscillation
ITMO University, Faculty of Control Systems and Robotics;
V. S. Gromov
ITMO University, Saint Petersburg, 197101, Russian Federation; Associate Professor
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Abstract. The existing approaches to planning of biped robot motion are analyzes, the advantages and disadvantages of various approaches are considered. A model of biped platform is developed. The model repeats the kinematic structure of the lower human limbs with similar mass-dimensional characteristics and the platform with which the pedipulators are connected via hinges. A simulation model is created in the MATLAB program, which implements the algorithm for the sustainable control of biped robot. During the work, the inverse kinematics problem was solved by the numerical method. Using a control algorithm and a simulation model, the vibrations of the DSHR platform along the vertical axis, as the most critical due to the action of gravity, are studied.
Keywords: robots, two-legged walking robots, simulation of biped robot, control algorithms
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