Optimization of the parameters & motion control modes of the bilegged walking robot

The problem of joint optimization of design parameters (the length and masses of links) and motion laws of the bipedal anthropomorphic robot has been investigated. The robot walks over a fixed horizontal plane under controlled forces actions in the leg joints. The robot walking has been modeled at a double step interval (in the class of symmetrical walking), taking into account the main rhythmic, kinematical and dynamical constraints of the anthropomorphic movement. Bilateral nonstationary constraints are imposed on the feet support reactions. The robot's links are optimized on conditions that the length and mass of every leg is constant, the quadratic functional is used as an optimality criteria. The algorithm for approximate solving the studied optimal control problem (with parameters), based on the parameterization of the robot's generalized coordinates by cubic smoothing splines and the use of numerical nonlinear mathematical programming procedures, is built. ©2016 by Begell House Inc.