UDC (062-050)

D.Humennyi, M.Tkach

COMPLIANCE OF BALANCE MODE CONTROL OF

ANTHROPOMORPHIC STEPPING DEVICE BASED ON
BIOLOGICAL PRINCIPLES
Abstract: The paper presents the solution of the problem of
management for regime of compliance equilibrium of
anthropomorphic stepping machine on any hard surface by
applying the principle of tracking the movement of the center
of mass point apparatus and reaction forces supporting
surface.
Keywords: anthropomorphic stepping machine, compliance of
unstable equilibrium, hierarchical management system, Hardware in
the loop, getting balance board.
Introduction
Construction of anthropomorphic stepping aids (AKA) is one of
the pressing problems nowadays, the solution of which will have a
significant economic and social impact due to their potentially
greater patency compared with any other devices. However, the
technical implementation AKA difficult, especially lack Systems (CS),
which would ensure their balance and take into account the impact
of the environment [1, 2, 4 - 7].
In this paper, we propose solving the problem of managing
compliance regime in static equilibrium AKA phases of motion
arbitrary solid surface by applying the principle of tracking the
movement of points depending on the machine's center of mass
reaction of forces supporting surface [4-7].
Overview of compliance of existing CS balance
The largest contribution to the study of bipedal humanoid
motion made Chow CK, Jackobson DH, Hill JC, Mc-Gee, Pei and
Muybridge E.
For example, in the writings of Chow C.K. and Jackobson D.H.
[9.2] insurance of equilibrium AKA carried out by applying the
second Lyapunovs theorem. This device is considered as a
mechanical system of pendulum type defined in two dimensions.
The movement of the unit is considered as a rigid body motion of
the system of paying degrees of freedom and is described by the
coefficients of Euler angles: , , , which form the inertial reference
system. In particular, the angle is the turn of the case around a
vertical axis. Taking as center point O by reference coordinate
system is given by the equation:

x c = f (t )+ sin( )cos( ) ,
y c =h (t)+ cos ( )sin ( psi) ,
z c =h(t)+ sin( ) .
The kinetic energy of the device can be defined as follow:
T =1 /2 M ( I 0 12+ I 2 22+ I 0 23)
where _i, i = [1..3] - angular acceleration relative to the axes
Ox, Oy, Oz- respectively, I_ (0,) I_2- principal moments of inertia in
the respective axes. However, if we use the equation highlights of
inertia:
1= cos()+ sin()cos ( )
sin ( )
2=
,
3 = sin () cos ()cos ( )
you can get the equation for kinetic and potential energy. Then
moments in Sharira value with respect to the principal axes, can be
defined as follows:
d /dtdT /dq idT /dqi + dV /dqi =M i ,
where M_i, q_i- points and angles between the principal axes respectively.
Given the fact that the angles own rotation around the vertical
axis of the shell be small compared with the angles , to their
removal enabled the authors to build a model of adherence to the
system of equilibrium equations of the fourth order.
Thus, in terms of the approach of Chow CK and Jackobson D.H.
is an example of a general theorem of Lyapunov stability can be
used to study the stability of anthropomorphic systems. However,
significant simplification of the mechanical model and the
revaluation of real physical system management capabilities, negate
the practical value of the work. In general, this method of device
control does not provide its movement on the surface. Instead,
balance control is carried out only by moving the body, it is difficult
to imagine in practice.
Work Hill J.C. [10.2], which deals in production of management
device poses a considerable degree differs of Chow CK and
Jackobson D.H. The author describes the model of the device, which
consists of seven parts and takes into account the forces and
moments acting on these links. To describe the dynamics of the
system used Lagrange equation of the second kind:

d dT dT dV

+
=Q i ,i=[1. . n] ,
dt dqi dq i dqi
Where q_i - and generalized coordinates; (q_i) - time derivative
of the generalized coordinates; V- total potential energy of the
system; T- total kinetic energy of the system; Q- i-th generalized
force, formed by the generalized moments and reference reaction.
The above equation reduces to a nonlinear model of the form:
2 )+Cf (z )+ V +Q
z =( Bz
A
,
where z , z , z, f (z), V, are defined be ninecomponental
vectors. Definition of generalized forces of the model is carried out in
two stages: in the first, reactions in joints are equal to zero and
description of the model is carried out only moments of forces in the
joints; second, defined response in the joints at the right moment in
sharnie equal zero. The need for two-phase definition of generalized
forces associated with the specified parameters mutual influence.
On the basis of nonlinear dynamic model, represented as a
vector differential equation.
dV dV dV
dV dV
=
+
+

+
,
dt d
d
d
d
and the model of the movement of the machine.
Although this study used a nonlinear model is incomplete, but
the results of the study confirm the possibility of its practical
application. Although the model is highly detailed and however
badly chosen, so how is unclear how the results of its work can be
extended to real engineering units with two limbs. Issues associated
with reactions which supports not resolved, so it is obvious that the
expression of these reactions and the coordinates of their products
using constant coefficients difficult to implement. The paper also
solved the problem of communication between internal and absolute
coordinates.
In this paper, Mc-Gee and Pei considered a machine that has
four limbs, the weight of each of which is infinitely small, compared
to the weight of the shell. Leveling weight extremities linearization
leads to a formal model of the machine and its CS. Thus, the
emphasis in architecture CS is on the man-machine control principle.
These features allow the architectural design to simplify the overall
structure of the feedback and CS as a whole.
The Maybidzh paper [11.2] observed that some animals pose
limb so that the foot was almost at the center of gravity of the case.
This movement can be approximated by taking each pair of animals
limbs as one limb humanoid machine. Thus, the problem reduces to
balance respect for mathematical problem of an inverted pendulum.

Thus, the control system considers the balance as the object of

control mechanical system defined in three-dimensional space,
consisting of seven or more units with linear dimensions and mass.
In kinematic pair links corners and blend limit points. To maintain
balance device uses a priori information on the source of its
interaction with the supporting surface. Application of Lyapunov's
theorem as a criterion of equilibrium complicated due to the need to
formalize the machine as onelink pendulum system type.
The analysis of publications shows that the existing system of
equilibrium compliance walking aids focused on idealized prioridefined parameters of the device and its supporting surface
movement. This reason for the practical application of existing CS
has a number of problems related to on-one with their adaptive
properties needed site management is described differential
equation of high order and manage in real time.
To solve these problems AKA balance control is proposed to
implement hierarchical elements of CS adaptability based on the
features of device interaction with a surface support, and solving
equations of high order to carry through partial derivatives and
consistent equation solution components at each level of the
hierarchy presented by CS.
Generalized hierarchical structure lSU compliance AKA balance
As is known, the distribution of reaction forces on the bearing
surface of the foot AKA reflects position of the center of mass
projection apparatus according to the angles and heights extremes
on the surface [4 - 6]. This makes it possible, on the basis of the
data on the distribution of power support response, perform
corrective control units AKA provisions to avoid falling and
compliance with state close to equilibrium.
Given the features design of AKA, which includes a number of
links connected by hinges with appropriate sensors and actuators
current angle and angular velocity, they imposed restrictions
corresponding angle (Pic. 1). In addition, the position of the center of
mass AKA depends on the position of each of its parts, due to its
weight (to simplify focus in points) and lengths, as well as to meet
the balance AKA imposed limits on the ability to slip his support OP.

Picture 1.- The framework for relations sevenlinks in threedimensional space AKA
Then, to correct equilibrium AKA, the principle for monitoring
distribution power support reaction, it is necessary to solve the
following problems:
criteria to determine compliance of AKA balance, loss of
balance, loss of balance approaching and so on which to build the
appropriate regulator to ensure equilibrium AKA;
based methods for solving inverse problem of dynamics to
develop power conversion limb angles AKA, which will determine the
deflection angle of each of the desired device to meet his balance.
synthesize angle regulator, which provides moving point of the
center of mass AKA position, defined as the optimal balance AKA
respect for one with degree of freedom;
synthesize additional controller which takes into account the
inertial component of AKA limbs.
These controls are integrated into the overall management
system compliance regime of AKA balance, structural diagram is
shown in Picture 2. The principle of this scheme is as follow: with
tactile sensor matrix read data distribution support surface reaction
force transmitted to the block AKA balance regulation in a two-

dimensional array, the total value of items of which corresponds to

the strength of the pressure on the bearing surface of the ACA. Block
of AKA balance adjustment on the basis of the data on the
distribution of reaction forces supporting surface determines the
current position and optimal TPTSM the criterion of minimum
deviation from equilibrium of AKA area. Information on current and
optimal position of the block TPTSM AKA AKA balance regulation
passed to block conversion limb angles AKA as two pairs of
coordinates TPTSM on the surface. In turn, unit conversion corners
AKA consists of two identical blocks conversion of corners left and
right limbs, which moves to the new limb angles AKA the purpose of
moving to the optimal position TPTSM preserving the "comfort" AKA
movement and position simultaneous common point of the two
limbs of the machine . New angles on AKA limbs defined solutions to
the inverse problem of kinematics. After receiving new angles each
block is transferred to the appropriate angle adjustment. Adjust the
angle unit consists of a transformation angle and the angle of the
controller in the hinge. Unit conversion checks the angle of entry of
the new angle in the "corridor" legitimate values and in case of
failure of revives he mentioned next largest allowable angle hinge.
Starting angle is transmitted to the controller in the hinge angle.
Also, the controller enters its current value. Based on current and
new angles calculated angular velocity and acceleration in the
hinge. Differential third order transfer function is defined value of
the force that must be applied in the hinge for the transition from
the current to the new angle. The initial value is passed to the
regulator actuator. Given the indefirentnist inertial component in the
management of ACA, due to the mutual influence of the moments of
inertia of each link, parallel to the hinge angle regulator adjustment
knob built angle. In the case of small deviations between the new
and the current angle adjustment knob creates additional time
control actuators aimed at reducing differences between the
corners. To form moment control actuators, the controller comes to
correcting values: the new angle, current limb angles, linear
dimensions and weight units. Formation of the date based on the
principle of adaptive self-study method Hebb. The value of this
angle, sent to regulators control angles obtained direct reading
sensors with actuators AKA.

Picture 2.- General scheme of CS compliance AKA balance

Unit conversion corners in the limbs and power regulation angle with
the classic solution, so do not be discussed in this article.
Block adjustment angle
According to the papers [2,4-7,11], AKA balance will be met, if the
point of projection center of mass (TPTSM) AKA be located in a
certain neighborhood of equilibrium, which formed the basis for the
projection device supports the surface movement. In the case of
describe the contour AKA supports both linear functions, subject to
the balance will form the solution of the optimization problem:
y

y=borderl x=border f

max [

y=1

f
f
f
f

N z , x , y]

x=1

foot

( xi , y j ,
N z ) border 1
( xi , y j ,
N z ) border 2
foot
( xi , y j ,
N z ) border 3
foot
( xi , y j ,
N z ) border 4
i, j R
foot

Where: border _ ([1..4]) - AKA border support foot left, right,

back, front - respectively (Picture 3); f ^ foot ([x, y, z]) - linear
function describing the contour of the foot in the frontal or lateral
planes; Border _ (l (f)) ^ (x (y)) - threshold maximum data
sharing support reaction forces in the plane xabo y; (N_ (x, y, z)) values of the support reaction at the point; x, y- coordinates of the
corresponding point from which the reader reaction force distribution
support; z- value reading forces of reaction in terms of support,
characterized coordinates x, y.

Picture. 3 Criterion of finding the optimal position of the foot AKA

TPTSM
Successful synthesizing unit balance adjustment needs AKA
represent formulas optimization problem 1 as a mechanism for
processing real reaction forces support the observed foot machine.
Therefore, we transform data from sensors support reaction forces in
the distribution function of the mass of the device according to the
formula 2:

M = N i , jk ;[i=1.. x , j .. y ] , k R
i=1 j =1

M =mA +2 (m B +mC +mD )

m x , y =N x , yk

where N - read off from the pressure sensor matrix distribution

support reaction forces; k - conversion factor forces the pressure
point in the mass; M - total mass AKA; m_A, m_B, m_C, m_D - AKA
mass units; m_ (x, y) mass, designed to point at the foot of the
coordinates x, y. The area of application of mass to the bearing
surface, according to the formulas (1) describes the tangent to the
surface AKA stop supporting surface. Boundaries tangent surfaces
are changed according to the movement phase, due to the angles in
the joints AKA. The shape of the current tangent surface defined by
the presence in each of its points of support reaction force that
meets the condition (5) within the outer contour of both feet of the
machine. Spatial stop position relative to the body AKA determined
from coordinates of their suspension to the legs in equations (3),
AKA constant size foot, being asked to model discrete and matrix
mass distribution apparatus, derived in equation (5). The corners of
the spatial position of the feet do not affect the distribution of power
support reaction, due to the invariance of surface types, so are not
included in the equations (3-6).


y r0 = y rA +(L B + L C )cos ( rx )
x r0= x rA + L B cos( zr )+ LC cos( rz )
y l0 = y lA +(L B + L C )cos ( lx )
x l0= x lA + L B cos( zl )+ LC cos( lz )

where y_0 ^ r, x_0 ^ r, y_0 ^ l, x_0 ^ l- coordinates to stop hanging

legs AKA; L_A, L_B, L_C, - constant length units; x_A ^ r, y_A ^ r, x_A
^ l, y_A ^ l- coordinates of the point of suspension beder to the
body; _r ^ x, _r ^ z, _l ^ x, _l ^ z, _r ^ z, _l ^ z- angles
defined in Figure (1). AKA stop circuit can be written in the form of
functions (4)

wdt D
x0r cos ( rx )+ y r0 sin( xr )
=0
2
wdt D
x r0 cos ( xr )+ y 0r sin( xr )+
=0
2
x r0 cos( xr +90)+ y r0 sin ( rx + 90)=0
x r0 cos ( rx +90)+ y r0 sin( xr +90)len D =0
wdt D
xl0 cos ( lx )+ y l0 sin( xl )
=0
2
wdt D
x l0 cos ( lx )+ y l0 sin( xl )+
=0
2
x l0 cos( xl +90)+ y l0 sin ( lx + 90)=0
x l0 cos ( lx +90)+ y l0 sin( xl +90)len D =0

and the transition from the coordinates of the point on the foot to
pressure force on the point of performing formulas (5):
N g (x , y )=S n ,m ,
len D
len
i
n [i+1 ] D
k
k
wdt D
wdt D
j
m [ j+1]
l
l
i=[1.. k 1], j=[1. . l1] , g =[1,2]
where len _D, wdt _D- constant length and width of the foot
AKA; k, l- amount of pressure sensors along the axes x and y; S_ (n,
m) - values of the pressure obtained from cell sensor matrix, g - ID
support.
N x , y>
0
Taking into account the dependence of the boundary phase of
equilibrium AKA movement phase define the conditions (4.6):

[ f r=1] ,
x cos( +90)+ y sin( +90)> x > x 0r cos ( rx + 90)+ y r0 sin ( rx +90)len D
wdt D
wdt D
( x , y) ,([N x , y > ] [ x0r cos ( rx )+ y r0 sin( xr )+
> y> x r0 cos( xr )+ y r0 sin ( rx )
])
2
2
[ f l=2] ,
l
x
l
x
x 0 cos ( l + 90)+ y 0 sin ( l +90)> x> x l0 cos( xl +90)+ y l0 sin( lx +90)len D
wdt D
wdt D
( x , y) ,([ N x , y > ] [ x l0 cos( lx )+ y l0 sin ( lx )+
> y > x l0 cos ( lx )+ y l0 sin(lx )
]).
2
2
f l + f r =1
r
0

x
r

r
0

x
r

where f_l + f_r = 1..3- classifier one base and two-base phases of
movement. If one-base movement phase when f_l + f_r <3 point of
the foot, forming a circuit area ACA and equilibrium in which the
force of support reaction is determined from equation (7):
x 1=i , N g (min(i) , j)>
y 1= j , N g (min(i) , j)>
x 2 =i , N g (max (i) , j)>
y 2= j , N g (max (i) , j)>
x 3=i , N g (i , min( j))>
y 3= j , N g (i , min ( j))>
x 4 =i , N g (i , max( j))>
y 4= j , N g (i , max( j))>
i=1. . n , j=1.. m
where n, m- bit sensor of matrix foot in planes hta y- respectively; g
ending of ID . Then straight through these points based on the
principle of bypass circuit, form a tangent to the surface of the foot.
Direct path equilibrium described as follow:

y y 1 x x 1

=0
y 2 y 1 x 2x 1
y y 2 x x 2

=0
y3 y 2 x3 x 2
,
y y 3 x x 3

=0
y 4 y 3 x 4x 3
y y 4 x x 4

=0
y1 y 4 x1 x 4

express equation of direct path through the angular position of the

plane y and substitute its value according to Picture 1. Then
equation of direct path described as follow:


tg( iy ) xx 1 + y 1 y=0
tg ( iy )[ xx 2 ]+ y 2 y=0
tg ( iy )[ xx 3 ]+ y 3 y =0
tg ( iy )[x x 4 ]+ y 4 y=0

Redefining the coordinates of points to form the absolute coordinate

D level is carried out using the formula (5). Submission of direct
coordinate system relative to the points of suspension towers, asked
the transformation of the equation of the line. In order to maintain
clarity IDs coordinates remain unchanged. Obtain:
wdt D
border1 tg ( iy ) [ x x 1 ]+ y 1 + y i0
y=0
2

(
] (
] (
] (

[
[
[
[

])
])
])
])

border 2 tg ( iy ) [ x x 2 + y 2 + y i0

wdt D
y=0
2

border3 tg ( iy ) [ x x 3 + y 3 + y i0

wdt D
y=0
2

border 4 tg ( iy ) [ x x 4 + y 4+ y i0

wdt D
y=0
2

[ x , y] N
i= f r + f l
where wdt _D- width (along the axis y) AKA foot; x_0 ^ i, y_0 ^
i- coordinates hinge on the foot of the device, as defined in equation
(3); l, r- IDs left and right foot; f_l, f_r- IDs presence of force support
response, as defined in equation (6).
In the case of two-base phase movement (when f_l + f_r = 3) limit,
the point of direct construction must comply with the conditions (9):
l
l
l
l
x 1=min( x) [N l ( x , y )> , x= x 0r ...[ x 0r +i] ; y=[ y 0l 1 /2 wdt D ]...[ y 0r +1/2 wdt D ]]
[ N r (x , y )> , x=x 0 ...[ x 0+ i]; y=[ y 01/2 wdt D ]...[ y0 +1 /2 wdt D ]]
y 1= y ,[ N r ( x 1, y )> , y=[ y r01 /2 wdt D ]...[ y r0 +1/2 wdt D ]]
l
l
l
l
x 2=max( x) [ N l ( x , y )> , x=x 0r ...[ x 0r +i]; y =[ y 0l 1/ 2 wdt D ]...[ y 0r + 1/2 wdt D ]]
[ N r ( x , y)> , x =x 0 ... [ x 0+ i]; y=[ y 0 1/2 wdt D ]... [ y 0 +1/ 2 wdt D ]]
y 2= y ,[ N r ( x 2, y)> , y=[ y 0r 1/2 wdt D ]... [ y r0 +1/2 wdt D ]]
r
r
r
r
y 3=min( y) [ N l (x , y )> , x=x 0r ...[ x 0r +i]; y =[ y 0r1/ 2 wdt D ]...[ y 0r + 1/2 wdt D ]]
[ N r ( x , y)> , x =x 0 ... [ x 0+ i]; y=[ y0 1/2 wdt D ]... [ y 0 +1/ 2 wdt D ]]
x 3=x ,[ N r ( x , y 3)> , y=[ y r01/2 wdt D ]... [ y r0 +1/ 2 wdt D ]]
r
r
r
r
y 4=max( y ) [ N l (x , y )> , x=x 0r ...[ x 0r + i]; y=[ y 0r 1/2 wdt D ]...[ y 0r +1 /2 wdt D ]]
[N r ( x , y)> , x= x 0 ...[ x 0 +i ]; y=[ y 0 1/2 wdt D ]...[ y 0 +1/2 wdt D ]]
x 4=x ,[ N r ( x , y 4 )> , y =[ y r01/ 2 wdt D ]...[ y r0+ 1/2 wdt D ]]
i=[1. . k ]
and compliance area contour determined equilibrium straight points

formed from equations (9) and is described by equation (8). Then

the current position TPTSM AKA for one-base and two-base
movement phases determined from solving the condition (1) for the
system constraints (8.10), taking into account the optimality
criterion of condition (2). In general, the position is determined by
Gomory TPTSM with the following problem statement:
max

N x + (r y ) , y + (r x )
2

r =1

[
[
[
[

(
] (
] (
] (

])
])
])
])

tg ( iy ) [ x x 1 ]+ y 1 + y i0

wdt D
y
2

tg ( iy ) [ x x 2 + y 2 + yi0

wdt D
y
2

tg ( iy ) [ x x 3 + y 3 + y i0

wdt D
y
2

tg ( iy ) [ xx 4 + y 4 + yi0

wdt D
y
2

[ x , y] N
i= f r + f l
xi , y j , r N 0
dof
x dof
rea =x ; y rea = y
Unlike current TPTSM, TPTSM optimal position is determined by
averaging the mass distribution criterion AKA the entire surface of
the foot. Noting the existence of this force distribution support
reaction, the problem of finding the optimal position TPTSM becomes
a task force redistribution reaction support. This problem can be
solved when using the Hungarian method for solving linear
programming problems in the case of resource allocation. Thus, the
initial matrix will form of distribution of the elements that
characterize the relative congestion points on the foot, compared
with all other of its points. The workload of each point is determined
by the numerical value of each element of the matrix C:
c 11 c12 c 1 i
C= c 21 c22 c 2 i ; i=1.. k , j=1.. l

c j 1 c j 2 c ji
cij = s N ij
k

N ij

s= i=1

j =1

ij

The criterion for the optimal position TPTSM is to achieve conditions:

s +
C= s +
...
s +

s +
s +
...
s +
0

...
...
...
...

s +
s +
...
s +

which is accomplished by moving conditions of TPTSM relation:

c11 c12 ... c 1i A1

c 21 c 22 ... c 2i A2
C= ... ... ... ... ...
c j1 c j2 ... c ji A j
B1 B 2 ... Bi
i=k

j=l

A j= cij ; B i= cij
i =1

dof

dof

x opt = x rea +[

j =1

max [ A j ]min [ A j ]
i=k

]k

Aj
i =1

dof
y dof
opt = y rea +[

max [B i ]min[ Bi ]
j =k

Bi

]l

j=1

The initial value of the unit balance adjustment for AKA coordinates
is the current and optimal TPTSM transmitted as a vector (12).
DOF
dof
dof
dof
dof
y =[ x rea , y rea , x opt , y opt ]
In order to convert angles hinges AKA, in accordance with the
provisions of Optimal TPTSM, the method of solving the inverse
kinematics problem, which is implemented in terms of block
extremities corners (Picture 2).
conclusion
Proposed in the writing work SU has a hierarchical structure and
enforces dynamic equilibrium AKA. CS developed based on the best
methods of determination of the equilibrium position, doing the
inverse kinematics to calculate the angles between pairs of
kinematic machine and manages actuators in the joints AKA using
this controller complex adaptive nature.
List of sources
1. Vukobratovic M., Borovac B. and Potkonjak V., Towards a unified
understanding of basic notions and terms in humanoid robotics,
Robotica 25 (2007) 87101
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Shabana. - 3rd ed. p. cm

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// . 2012. - 21(41). - .114-122.
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//
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D.Gumennuy, M.Tkach. A Hybrid Control Method fot Stabilizing of
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1. Robot
on
Irregular
Surface
Using
Plantar
Pressure
Sensor//ECCOMAS Thematic Conference on Multibody Dynamics.
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(062-050) .., ...

//
The paper suggests solving the problem of managing compliance
regime equilibrium anthropomorphic walking machine on any hard
surface by applying the principle of tracking the movement of the
center of mass point apparatus and reaction forces supporting
surface.
Keywords: anthropomorphic walking machine compliance unstable
equilibrium, hierarchical management system, Hardware in the loop,
optrymalne balance board.
11, . 3
UDC (062-050)
M.M.Tkach, D.A.Humenny. The system management mode
Compliance equilibrium antropomorfnm shahayuschym by the
device // Adaptyvne Automatic management system.
In the work proposals decision problem management regime
Compliance equilibrium anthropomorphic shahayuscheho apparatus
for proyzvolnoy tverdoy surface based on the principle of application
otslezhyvanyya SHIFT center of mass point apparatus and syl
reaction opornoy surface.
Keywords: anthropomorphic shahayuschyy apparatus, Adherence
neustoychyvoho equilibrium, yerarhycheskaya Control System,
Hardware in the loop, the Board of optrymalne balance.

Bybl 11 Ref. 3
UDC(062-050)
M.M.Tkach , D.A.Gumenny . Control system compliance regime
equilibrium anthropomorphic walking robots / / Adaptive automatic
control
system
.
The paper provides a solution to the problem of balancing mode
control anthropomorphic walking machine on any solid surface by
applying the principle of tracking the movement of the point of the
center of mass system and the reaction force supporting surface.
Keywords: anthropomorphic walking robots , observance of unstable
equilibrium , hierarchical contr Ref 11 pic 3
Michael Tkach Martynovych - Ph.D., Associate Professor of
Engineering Cybernetics "KPI".
Research interests:
Automated design of flexible manufacturing systems.
Gumenniy Dmitry - Assistant Professor of Technical Cybernetics
"KPI".
Research interests:
- Management and modeling robotic systems
Telephone: +380958978032
e-mail: apollo.d.g@gmail.comol system , Hardware in the loop,
optimal balance board .