Engineering Journal: Science and InnovationELECTRONIC SCIENCE AND ENGINEERING PUBLICATION
Certificate of Registration Media number Эл #ФС77-53688 of 17 April 2013. ISSN 2308-6033. DOI 10.18698/2308-6033
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Article

The synthesis of control actions to drive the actuators of walking robots without solving the inverse kinematics task

Published: 08.10.2013

Authors: Karginov L.A.

Published in issue: #4(16)/2013

DOI: 10.18698/2308-6033-2013-4-692

Category: Engineering | Chapter: Fluid Mechanics and Hydraulic Machines

The paper describes an approach to the synthesis of control actions for walking robots drives, eliminating the need for solving the inverse kinematics task. It outlines the preconditions approach. On the example of a four-legged walking mechanism the practical application of the approach is shown. The results of this approach for the case of a rectilinear and rectilinear "cautious" movements are presented. Some particular cases of this approach are specified.