Abstract. Methods of balance control for a legged robot, the model of which is presented as a two-section inverted pendulum, are considered. The following balance methods for humanoid robots are analysed: the parallel algorithm of the network operator method; the method of natural synergies; the method of fuzzy control, the spherical inverted pendulum mode, a dual length linear inverted pendulum method. The best of these methods will be used in the development of the Russian anthropomorphic robot Antares.

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Abstract. The paper presents the results of a study devoted to the problem of improving the energy efficiency of mechanical motion of anthropomorphic robotic systems. Achieving higher energy efficiency is largely due to the implementation of improvements directly in the algorithms that ensure the movement of a robotic system. For this purpose, several existing analytical methods for solving the inverse kinematics problem for robotic walking platforms were analyzed. According to the survey, key areas where modification can improve the energy efficiency of mechanical motion in various RS are identified. The paper discusses the algorithm developed to optimize the solutions of the inverse kinematics problem in terms of energy consumption.

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