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Journal of Automation and Information Sciences
SJR: 0.275 SNIP: 0.59 CiteScore™: 0.8

ISSN Печать: 1064-2315
ISSN Онлайн: 2163-9337

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Journal of Automation and Information Sciences

DOI: 10.1615/JAutomatInfScien.v29.i2-3.40
pages 17-21

Simulation of Motion of an Electromechanical Walking Machine

B. A. Bordyug
Institute of Mechanics, National Academy of Sciences
Vladimir B. Larin
S.P. Timoshenko Institute of Mechanics of National Academy of Sciences of Ukraine, Kyiv, Ukraine

Краткое описание

The influence of the dynamics of executive mechanisms on the character of motion of a biped walking machine is studied. A model of the biped machine with completely weighted legs equipped with electromechanical drives is considered. First, an open-loop control is constructed, and then, on the basis of the methods of periodic optimization, the corresponding regulator is synthesized which stabilizes the open-loop motion.

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