Walking machine is considered as a system with the variable constraints. Driving such system is described by differential and difference equations. The algorithm of choice of a program motion and the algorithm of stabilization of this motion are explained. The paper shows that at the control synthesis of the walking machine it is necessity to taken into account the dynamic effects, stipulated by a changing of constraints. Outcomes of mathematical modeling of motion of the flat model of biped are presented.
Control of walking machine
2000-01-01
493906 byte
Conference paper
Electronic Resource
English