| abstract |
The invention relates to a method and dynamic control device of walking robots, for hybrid real time control, trajectory position control of tip movement and robot leg joints, reaction forces and gait dynamic of walking robots in order to increase their movement stability on flat terrains, uneven or with obstacles, at constant or variable walking speed, with applications in transport of nuclear materials, in agricultural activities of sowing, weeding, military applications, in detecting mines and generally rough terrain applications, difficult to access. The method has 14 control sequences allowing the determination of force-position hybrid control strategies and dynamic control strategies of walking robots, together with the presentation of control system architecture. The device is made of a multitude of modules which aim to generate, in real time, an error signal on robot axis, on each degree of freedom of RP walking robots, for actuators control, which take into account the control strategies of the position component, the force component and dynamic control components, in order to increase stability and mobility of walking robots. The main advantages of the invention consists in real-time robot balance control, gait control and predictable motion control providing increased mobility and stability in order to achieve higher performance, in relation to the walking robots movement possibilities, an also the development of new technological capabilities of the control systems. |