Control input generation for walking robots with elastic elements
The paper is focused on the problem of control inputs generation for walking robots with elastic elements. The presence of elastic elements primarily affects the robot’s dynamic characteristics, whereas the task of generating control inputs for the control system for multi-link mechanisms is often considered in a kinematic formulation. However, the presence of elastic elements can affect the volume of possible motions of the robot, which should be taken into account when generating the robot’s trajectories. In particular, this happens when the robot has a tree kinematic structure, and the elastic elements are installed in series with rigid links. The control inputs generation problem for walking robots is usually partitioned into sub-tasks, such as steps sequence generation, the center of mass trajectory generation, feet trajectories generation and the inverse kinematics. This pipeline is studied in this paper. The article suggests ways of taking into account inaccuracy of robot links’ motion due to the presence of elastic elements. A method for correcting the feet trajectories that lead to mechanism self-intersection is proposed. A method for solving the inverse problem of kinematics taking into account the action of the elastic elements for the case when they are connected in series is studied.