Studying the impact of the optimal control problem components on its frequency for a quadruple walking robot

Abstract

There exist a large number of classes of the walking robots differing in the number of limbs, principles and modes of motion and control. Each class of robots has its own advantages and disadvantages depending on the tasks to be solved. A quadruple walking robot is considered capable of moving over the rough terrain. Its advantages over the biped systems include higher stability, and over the six- and eight-legged systems - simpler control due to the smaller number of limbs, and the possibility of using animals as the prototypes. One of the important and not completely solved problems is development of approaches to control a quadruple walking robot, as well as establishing the influence of computational complexity of the control system separate elements on its overall operation frequency. Such robot control system is represented in the form of three modules: inverse kinematics, predictive control and model parameters calculation. Each module requires solving a certain problem. A study was conducted on the time distribution between the control system modules in a single iteration. Average time distribution values and their standard deviations were determined for the two robot motion modes: standing and walking. Results of the numerical experiments established that the standard deviations were not depending on the device motion mode, which indicated independence of the computational load created by the control system on the robot motion mode.