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Control and Stability Evaluation of the Bipedal Walking Robot AnyWalker

Igor Ryadchikov(1), Semyon Sechenev(2), Evgeny Nikulchev(3*), Michail Drobotenko(4), Alexander Svidlov(5), Pavel Volkodav(6), Rinat Vishnykov(7)

(1) Optical Electronics Department, Kuban State University, Russian Federation
(2) Kuban State University, Russian Federation
(3) Moscow Technological Institute, Russian Federation
(4) Mathematical and Computer Methods Department, Kuban State University, Russian Federation
(5) Mathematical and Computer Methods Department, Kuban State University, Russian Federation
(6) Nanotechnology Department, Kuban State University, Russian Federation
(7) Kuban State University, Russian Federation
(*) Corresponding author


DOI: https://doi.org/10.15866/ireaco.v11i4.13917

Abstract


In the laboratory of robotics and mechatronics of the Kuban State University, a walking non-anthropomorphic robot has been developed, capable of overcoming obstacles exceeding the size of the robot. The robot has additional internal degrees of freedom, responsible for the compensation of deflections (the dynamic stabilization system). The article presents the results of the calculation of the stability zones in the frontal plane of the robot with and without a stabilization system.
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Keywords


Control; Stability; Walking Robot

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References


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