PROGRAMMING MOVEMENT OF BIPEDAL WALKING MACHINE IN SAGITTAL PLANE

Yuri Kotelnikov, Rostislav Alekseev

2008 , VOLUME 08, NUMBER 12 ( September-October )

ISSN 2226-1494 (print), ISSN 2500-0373 (online)

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Nikiforov
Vladimir O.
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PROGRAMMING MOVEMENT OF BIPEDAL WALKING MACHINE IN SAGITTAL PLANE

Y. Kotelnikov, R. Alekseev

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Abstract

The article deals with the comfortable bipedal robot movement with given program paths for pelvis and feet in rectangular coordinates. Analytical calculation of master control for actuator with an application of in-verse kinematics problems solving is given.

Keywords: bipedal walking machine, comfortable movement, program paths, inverse kinematics problem, zero point

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