Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives-Reference-Cited by-同舟云学术

Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives

Published:1994-04 Issue:2 Volume:13 Page:137-147
ISSN:0278-3649
Container-title:The International Journal of Robotics Research
language:en
Short-container-title:The International Journal of Robotics Research

Author:

Grishin A.A.¹,Formal'sky A.M.²,Lensky A.V.²,Zhitomirsky S.V.²

Affiliation:

1. Institute for Problems of Information Transmission The Russian Academy of Sciences Moscow, Russia

2. Institute of Mechanics The Moscow State University Moscow, Russia

Abstract

This article describes a walking vehicle with two telescopic legs that was designed at the Institute of Mechanics at Moscow University. The vehicle is driven by two DC drives. Its con trol system comprises a computer, hardware servosystems, and power amplifiers. An adaptive algorithm has been developed for control of vehicle locomotion. This algorithm is based on the tracking of the commanded path. A part of the path is planned by the computer in advance using a mathematical model of the vehicle. The rest is built up during walking of the vehicle based on the information on its state. In the ex periments, the designed control algorithm was successfully implemented.

Publisher

SAGE Publications

Subject

Applied Mathematics,Artificial Intelligence,Electrical and Electronic Engineering,Mechanical Engineering,Modelling and Simulation,Software

Link

http://journals.sagepub.com/doi/pdf/10.1177/027836499401300204

Reference20 articles.

1. Beletsky, V.V. 1984. Biped walking. Model problems of dynamics and control . Moscow Nauka, p. 286. In Russian.

2. Bogdanov, V.A., and Gurfinkel, V.S. 1976. Biomechanics of human locomotion. In Physiology of Motion. Leningrad Nauka, pp. 276-315. In Russian.

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