Design of the Walking Pattern Generation Software of AR-600 Anthropomorphic Platform

Abstract

Biped walking implies a multitude of cyclically moving body segments and requires corresponding adjustment and coordinated movement of these segments to ensure smooth motion and balance maintenance – a challenging task considering technical limitations of currently existing robotic platforms. The article describes the implementation of the real-time dynamic walking of the AR-600 anthropomorphic robotic platform produced by JSC NPO Androidnaya Tekhnika (Magnitogorsk, Russia). The robot was controlled employing the software developed by the authors and motions were simulated in the 3DLK specialized simulation environment (JSC NPO Androidnaya Tekhnika). The authors studied various walking trajectories and confirmed the validity of this algorithm and related software for implementing biped robot locomotion.