Dynamic Walking of a Vehicle With Two Telescopic Legs Controlled by Two Drives

Abstract

This article describes a walking vehicle with two telescopic legs that was designed at the Institute of Mechanics at Moscow University. The vehicle is driven by two DC drives. Its con trol system comprises a computer, hardware servosystems, and power amplifiers. An adaptive algorithm has been developed for control of vehicle locomotion. This algorithm is based on the tracking of the commanded path. A part of the path is planned by the computer in advance using a mathematical model of the vehicle. The rest is built up during walking of the vehicle based on the information on its state. In the ex periments, the designed control algorithm was successfully implemented.