Алгоритм компенсации возмущений ходьбы двуного робота решением обратной задачи кинематики

Actual problem of design of biped robot walking is presented. New algorithm for determination of motion laws of low limbs links of biped robot at walking is presented for given walking characteristics such as lengths and height of step, velocity, foot sizes, kinematic model of limbs, inertial characteristics of all links. The position of the reference polygon while walking is designed at first. By means of this data the law of ZMP motion is defined by approximation by means of straight lines and parabolas of the 5th order. To increase the accuracy of decomposition of non periodic functions in Fourier series the linear trend is removed from it. Comparison of left hand and right hand harmonics of differential equation connecting coordinates ZMP and COM forms motion law of robot’s mass center. This, along with the well-known law of motion of the feet when walking, allows one to find the laws of motion of all the links involved in walking. Existing nonlinear equations are solved by Newton's method. The performance of the algorithm is assessed by using it in the framework of another algorithm that calculates compensatory effects during walking to maintain dynamic balance. Compensation of the arising disturbances is carried out by distributing them in half or in a whole step using a geometric or arithmetic progression. The accuracy and the achieved performance for the implementation of these algorithms in the on-board computer of the robot are registered.