Algorithms of walking and stability for an anthropomorphic robot

International Scientific-technical Conference on Innovative Engineering Technologies, Equipment and Materials 2016

工业技术;机械制造;材料科学

Sirazetdinov, R.T.^1 ; Devaev, V.M.^1 ; Nikitina, D.V.^1 ; Fadeev, A.Y.^1 ; Kamalov, A.R.^1

Kazan Federal University, 18 Kremlyovskaya street, Kazan

420008, Russia^1

关键词: Autonomous movement;    Information and communication;    Interacting agents;    Lateral movement;   

Others  :  https://iopscience.iop.org/article/10.1088/1757-899X/240/1/012065/pdf
DOI  :  10.1088/1757-899X/240/1/012065

来源: IOP

【 摘 要 】

Autonomous movement of an anthropomorphic robot is considered as a superposition of a set of typical elements of movement - so-called patterns, each of which can be considered as an agent of some multi-agent system [ 1 ]. To control the AP-601 robot, an information and communication infrastructure has been created that represents some multi-agent system that allows the development of algorithms for individual patterns of moving and run them in the system as a set of independently executed and interacting agents. The algorithms of lateral movement of the anthropomorphic robot AP-601 series with active stability due to the stability pattern are presented.