CONTROL OF MOTION OF A BIPEDAL WALKING ROBOT.

The article considers the problem of controlling plane motion of a walking robot consisting of a torso with weight and of a pair of weightless two-element legs that are suspended at one point of the torso. There have been a number of studies of various modes of controlling the motion of this particular model. In this paper a two-stage control algorithm is constructed that tracks a specified programmed motion. In the first stage, vertical stabilization is ensured by means of hinge moment. In the second stage longitudinal and angular stabilization are achieved by using these moments and also by choosing the length and duration of the next step. The entire control algorithm (synthesis of hinge moments and choice of step length and duration) is described by finite formulas. An example of the algorithm is given.