Humennyi D. Automation of process management with sustainable movement anthropomorphic for a walking machine

The dissertation is about development, creation and study of management system with sustainable movement of an anthropomorphic walking machine on any support surface. In the dissertation we analyzed the existing methods and system control with stable motion bipedal robot. The analyzed existing methods and the modeling approaches to bipedal robot and certain criteria of their compliance for sustainable motion. Based on the analysis of positive and negative factors of the existing criteria, methods, management system and apparatus models was synthesized with mathematical and computer devices, suggested criteria of compliance with steady motion bipedal robot, on a random support surface According to the distribution of reaction forces support surface, we developed strategies for sustainable management of movement BIPEDAL ROBOT in cases, when the device drops or its stability margin is small. On the basis of the proposed criteria and strategies developed control system with stable movement, adapted to the synthesized computer model of semi-unit bipedal robot. To test the effectiveness of the work with the proposed control system which leads to recovery models for sustainable apparatus movement in cases, when its position does not meet the criteria for steady motion and when there are external factors in the units of bipedal robot. As a result of the simulation it showed effective recovery and compliance of steady motion bipedal robot, on a random support surface regardless of external factors. Keywords: Anthropomorphic Walking Machine, Sustainable Movement Control System, stability management, the balance of anthropomorphic walking machine, the reaction force of a support surface, modeling of mechanical systems, management with kinematic pairs of units.