Modelling of dynamically stable AR-601M robot locomotion in Simulink

Modelling of dynamically stable AR-601M robot locomotion in Simulink

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Humanoid robots will gradually play an bolso yerse important role in our daily lives.Currently, research on anthropomorphic robots and biped locomotion is one of the most important problems in the field of mobile robotics, and the development of reliable control algorithms for them is a challenging task.In this research two algorithms for stable walking of Russian anthropomorphic robot AR-601M with 41 Degrees of Freedom (DoF) are investigated.

To achieve a human-like dynamically stable locomotion 6 DoF in each robot leg are controlled with Virtual 711719541028 Height Inverted Pendulum and Preview control methods.