Development construction and motion control algorithm of walking machine

Аuthors

Garevskaya N. V.^1*, Poliansky V. V.^2**, Sabadyr A. M.^1***, Semcov A. S.^1****

1. Moscow Aviation Institute (National Research University), 4, Volokolamskoe shosse, Moscow, А-80, GSP-3, 125993, Russia
2. ,

*e-mail: tashonok@mail.ru
**e-mail: vitapolk@rambler.ru
***e-mail: zvenayte@pisem.net
****e-mail: semcov@zaoincos.com

Abstract

The object of investigation is controllable/autonomous walking machine with high passability. The model of walking machine was created, interaction with the environment math models was developed, geometrical dimensions of passable obstacles was defined. On basis of selected model were developed functional capabilities and control system algorithm. The model sample of walking machine was created.

Keywords:

аutonomous walking machine; model; high passability; combined system; complexing; finite state machine; spider; robot; control system; locomotion

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