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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