This article describes a walking vehicle with two telescopic legs that was designed at the Institute of Mechanics at Moscow University. The vehicle is driven by two DC drives. Its con trol system comprises a computer, hardware servosystems, and power amplifiers. An adaptive algorithm has been developed for control of vehicle locomotion. This algorithm is based on the tracking of the commanded path. A part of the path is planned by the computer in advance using a mathematical model of the vehicle. The rest is built up during walking of the vehicle based on the information on its state. In the ex periments, the designed control algorithm was successfully implemented.
Get full access to this article
View all access options for this article.
References
1.
Beletsky, V.V.1984. Biped walking. Model problems of dynamics and control . MoscowNauka, p. 286. In Russian.
2.
Bogdanov, V.A., and Gurfinkel, V.S.1976. Biomechanics of human locomotion. In Physiology of Motion. LeningradNauka, pp. 276-315. In Russian.
3.
Bolotin, Yu. V.1989. Control of statically unstable gaits of walking robots . Mech. Solids24(3):22-27.
4.
Bordyug, B.A., Larin, V.B., and Timoshenko, A.G.1985. Problems of control of walking bipeds. Kiev Naukova dumka, p. 264. In Russian.
5.
Devjanin, E.A., Zhitomirskij, S.V., Zhiharev, D.N., Lenskij, A.V., Shtilman, L.G., Gurfinkel, V.S., Gorinevskij, D.M., Gurfinkel, E.V., Grishin, A.A., Shneider, A. Ju.1987. Control of adaptive walking robot. Preprints 10th World Congress IFAC. Munich, Germany. 4:218-225.
6.
Formal'sky, A.M.1982. Locomotion of anthropomorphic mechanisms. Moscow, "Nauka," p. 368. In Russian.
7.
Frank, A.A.1971. On the stability of an algorithmic biped locomotion machine . J. Terramech. 8(1):41-50.
8.
Furusho, J., and Mashubushi, M.1986. Control of dynamical biped locomotion system for steady walking. Trans. ASME: J. Dyn. Syst., Meas. Control108(2):111-118.
9.
Furusho, J., and Sano, A.1990. Sensor-based control of a nine-link biped. Int. J. Robot. Res.9(2):83-98.
10.
Grishin, A.A., and Formal'sky, A.M.1990. Control of a bipedal walking robot by means of impulses of finite amplitude. Mech. Solids . 25(2):65-72.
11.
Gubina, F., Hemami, H., and McGhee, R.B.1974. On the dynamic stability of biped locomotion. IEEE Trans. Biomed. Eng. BME-21(2):102-108.
12.
Kato, T., Takanishi, A., Naito, G., and Kato, I.1981. The realisation of the quasi dynamic walking by the biped walking machine. Proc. of Int. Symp. on Theory and Practice and Manipulators, ROMANSY, pp. 341-351.
13.
Katoh, R., and Mori, M.1984. Control method of biped locomotion giving asymptotic stability of trajectory. Automatica20(4):405-414.
14.
McGeer, T.1990. Passive dynamic walking. Int. J. Robot. Res. 9(2):62-82.
15.
Miura, H., and Shimoyama, I.1984. Dynamic walk of a biped. Int. J. Robot. Res.3(2):6-74.
16.
Novozhilov, I.V.1984. Control of three-dimensional motion of bipedal walking robot. Mech. Solids19(4):43-49.
17.
Raibert, M.H.1986. Legged Robots that Balance. Cambridge, MA: MIT Press.
18.
Raibert, M.H., Brown, H.B., and Chepponis, M.1984. Experiments in balance with a 3D one-legged hopping machine . Int. J. Robot. Res.2:75-92.
19.
Vukobratovich, M.1976. Walking robots and anthropomorphic mechanisms. Moscow "Mir." In Russian.
20.
Zheng, Y.F., and Sias, F.R.1987 (Santa Barbara, CA). Design and motion control of practical biped robots. Proc. IASTEM Int. Symp. Robotics and Automation, pp. 166-170.
