Walking Robots

Walking Robots

istory Cooperation with Volgograd State Technical University and FRUND software: Inverse problem in dynamics of multibody systems applied to walking robots.


Controlled mechanical systems.


istory Inverse problem


Synthesis of control by the method of inverse problem


- inverse kinematics: motion of output links of drives

- computation of driving forces and torques.

- models with arbitrary structure, including redundant constraints and drives.


istory Direct problem



Controlled motion under the action of driving forces. Usage of computed driving forces and PID control.

Instable motion: PID control without use of computed driving forces Stable motion: PID + computed driving forces


istory Supplement


Zoomorphic robots, group locomotion of robots.