AUTOMATIC COMPONENT OF A WALKING MACHINE MOTION CONTROL SYSTEM
Annotation
An automaton component of the motion control system for a six-legged robot is presented. Hybrid automata for controlling the movement of feet and changing the phases of movement of individual limbs have been constructed. Matrices of the main types of statically stable gait of a robot are presented. Gait automata have been developed that coordinate the operation of hybrid limb automatons to provide a discrete gait mode with a sequential change in the phases of their movement and with continuous combination of the phases of movement of the body and transfer of an idle group of limbs. The specific object of control and modeling is an insectomorphic walking machine being developed at SUAI-JSC "Arsenal-07".
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