Simulation of a four-legged walking robot stabilization system

Andrey G. Teteryatnikov
Astrakhan State University, Master's degree, 20a, Tatischeva, Astrakhan, 414056, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Alexey V. Rybakov
PhD in Physics and Mathematics, Astrakhan State University, Physics and Mathematics Institute, Director, 20a, Tatischeva, Astrakhan, 414056, Russia, tel.: +7(8512)49-41-56, This email address is being protected from spambots. You need JavaScript enabled to view it.

Nikolay A. Vybornov
PhD in Physics and Mathematics, Astrakhan State University, Faculty of Physics, Mathematics and Engineering Technologies, Associate Professor, Dean, 20a, Tatischeva, Astrakhan, 414056, Russia, tel.: +7(8512)49-41-56, This email address is being protected from spambots. You need JavaScript enabled to view it.

Dmitry V. Starov
Astrakhan State University, Department of Electrical Engineering, Electronics and Automation, Senior Lecturer, 20a, Tatischeva, Astrakhan, 414056, Russia, This email address is being protected from spambots. You need JavaScript enabled to view it.

Received 30 July 2020

Abstract
The article discusses design and control features of a four-legged robot. The authors propose control models for the robot extremities with the use of PID, neural network and fuzzy controllers. The characteristics of transient processes for evaluating the results of using regulators are given.

Key words
Four-legged robot, neural network controller, fuzzy controller, PID controller.

DOI
https://doi.org/10.31776/RTCJ.8304

Bibliographic description
Teterytnikov, A., Rybakov, A., Vybornov, N. and Starov, D., 2020. Simulation of a four-legged walking robot stabilization system. Robotics and Technical Cybernetics, 8(3), pp.189-197.

UDC identifier:
004.896:007.52

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