MATEC Web of Conferences (Jan 2016)

Modelling of dynamically stable AR-601M robot locomotion in Simulink

  • Khusainov Ramil,
  • Sagitov Artur,
  • Klimchik Alexander,
  • Magid Evgeni

DOI
https://doi.org/10.1051/matecconf/20167509004
Journal volume & issue
Vol. 75
p. 09004

Abstract

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Humanoid robots will gradually play an important role in our daily lives. Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task. In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF) are investigated. To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual Height Inverted Pendulum and Preview control methods.