Control and Stability Evaluation of the Bipedal Walking Robot AnyWalker

Igor Ryadchikov; Semyon Sechenev; Evgeny Nikulchev; Michail Drobotenko; Alexander Svidlov; Pavel Volkodav; Rinat Vishnykov

doi:10.15866/ireaco.v11i4.13917

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⁾

^(*) Corresponding author

Authors' affiliations

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.
Copyright © 2018 Praise Worthy Prize - All rights reserved.

Keywords

Control; Stability; Walking Robot

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