CASPIAN JOURNAL

MANAGEMENT AND HIGH TECHNOLOGIES

Development of a stabilization system for a walking robot on the basis of the inverted pendulum with three degress of freedom

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Ryadchikov I. V. Development of a stabilization system for a walking robot on the basis of the inverted pendulum with three degress of freedom // Caspian journal : management and high technologies. — 2018. — №4. — pp. 89-103.

Ryadchikov I. V. - Cand. Sci. (Physics and Mathematics), Head of the Laboratory of Robotics and Mechatronics, Kuban State University, 149 Stavropolskaya St., Krasnodar, 350040, Russian Federation, igorryadchikov@gmail.com

Along with the development of mobile robotics in the direction of flying and wheeled structures, the research in the field of walking devices is being actively conducted. This is due to the wide range of applications of walking devices, including moving with obstacles climbing and along complex trajectories; the need to move the robotic device in hard-to-reach places. The peculiarity of walking robots is that at the moment of moving the "legs" it is necessary to stabilize the unstable system. There are two approaches to stabilization. The first is an attempt to stabilize the object by analogy with the movements of a human or animal, the second is the use of non - anthropomorphic methods. In this paper, we consider the non-anthropomorphic design of a walking robotic platform stabilized using rotating flywheels. The article deals with the problem of stabilization of the considered device using the model of the inverted three-dimensional pendulum. Results of comparison of the solution of the problem with the known analytical solution are given. Analytical, numerical and experimental results are presented.

Key words: шагающий робот, проблемы стабилизации, обратный трехмерный маятник, аналитические решения, экспериментальные результаты, имитационное моделирование, walking robot, stabilization problems, inverted 3d pendulum, analytical solutions, experimental results, s