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FEATURES OF CONSTRUCTING A BOND GRAPH OF WALKING ROBOTS

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The general dynamics of multi-link systems that implement the “walking” principle of movement are described, and an approach to constructing a bond graph model of a walking robot is developed. The presented mechanisms are modeled to evaluate a number of specific requirements, such as dynamics, positioning accuracy and energy expended for movement. An approach to changing single-node bond graphs to bond graphs in the format of multi-connections of nodal vectors and, as a consequence, simplifying the visualization of the generated model is described. The construction of a bond graph model under conditions of non-determinism of external influences, which are simulated by the random nature of the information received, is considered.

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