We present a bipedal walking non-anthropomorphic robot AnyWalker developed in the laboratory of robotics and mechatronics of the Kuban State University. The goal is to be able to overcome obstacles exceeding the size of the robot itself. In addition to the degrees of freedom due to the joints between the links, the robot is equipped with reaction wheels enhancing its dynamic stabilization capabilities. This paper presents a study of the stability zones in the frontal plane of the robot with and without the reaction wheel support.

The article centers round the problem of design a feedback control for the control moment gyroscope (CMG)-actuated inverted pendulum with online equilibrium revision after the center of mass displacement. The methodology for the control synthesis is the Linear Quadratic Regulator. The equations of motion for the model of the inverted pendulum are derived. The control is synthetized and implemented both in an experimental plant and in a simulation model. The results of the experiment and simulation show the reliability of the synthetized control, which is proved to be able to deal with the center of mass displacement.

Abstract-Walking robots are designed to overcome obstacles when moving. The walking robot AnyWallker is developed, in the design of which the task of self-stabilization of the center of the mass is solved; a special type of chassis is developed, providing movement on high cross-country capability. The paper presents the results of designing and controlling the robot, the architecture of the software complex provides management and mastification of the hardware platform. AnyWalker is actually a chassis which can be used to build robots for many different purposes, such as surveying complex environment, industrial operations, and work in hazardous environment.

Presented the description of the bipedal robotic chassis with the unique kinematic scheme which has the possibility to locomote in complicated multi-level environment. AnyWalker is equipped with the system of compensation of external impacts with motor-wheels which can self-stabilize the robotic system in 3 dimensions. Presented chassis suggests to have open software and hardware architecture in order to become the universal walking platform for service and industry robots.

Abstract. Presented constructive solution of the robotic system effectively solves the problem of movement in human-adapted not pre-prepared environment. AnyWalker stabilization system consists of three flywheels, implemented in the form of motor-wheels or driven with the help of transfer mechanisms each from its motor, in orthogonal planes, and the centers of mass flywheels are the same. It is proposed to formalize the functionality of the movement in the human-adapted environment in the form of a standard architecture for robotic chassis with the possibility of hardware and software extension.