Mathematical modelling of interaction of the biped dinamic walking robot with the ground

Abstract

Walking robots are the most wanted, important and interesting ones and their stability is the most crucial problem these days. Technical progress involved using modern materials and technologies in creating of new walking devices and its control system (Brogliato in IEEE Trans Autom Control 48(6):918-935, 2003 [1]), which could provide static and dynamic stability. Dynamic walking means to constantly fall, but to bring forward the swing leg in time to prevent tilting over (Automatica 35(3):374-535 [2], Collins et al. in Int J Robot Res 20(7):607-615, 2001 [3]). The control system must provide stability of walking and its efficiency. This paper proposes the method of control of biped walking dynamic robot and simulated parameters of walking. The parameters of control are time and place of putting the leg on the ground at the beginning of the next step. For its defining the equations of the spatial turned mathematical pendulum are used.