Araffa K. Automation and controlling the process of motion planning and stabilization of bipedal robot (AKA)

The dissertation is devoted to increase of efficiency of process of planning of trajectory and increase the stability of AKA by considering the delay effect on receiving and processing of data on its positioning on any surface. The structural-functional scheme of automation of processes of planning and optimal stabilization of the walking of AKA with polynomial smoothing of a basic trajectory and optimal LQR controller, the stabilizing controller which provide a smoothness and stability of motion of AKA along a basic trajectory was developed. The technique of synthesis of support trajectories on the basis of multiphase structure of stepwise movement of AKA considering locomotor synergies of interaction of feet of AKA with an arbitrary basic surface is developed, which avoids ambiguity when solving the inverse kinematics problem. The algorithm of stabilization of AKA movement in the conditions of uneven terrain based on MPC-approach is developed, which makes it possible to eliminate the negative consequences of the effect of delay in the initial stage of the AKA movement when using traditional approach. The results of theoretical and practical research are used in the practical activities of LLC "Mirsaitov", introduced into the educational process of the National Aviation University for use in research work of students of scientific groups of the Institute of New Technologies and Leadership, and implemented in educational process of the Department of Technical Cybernetics of National Technical University of Ukraine "Igor Sikorsky Kyiv Polytechnic Institute" (NTUU KPI).