The constructon of a biped anthropomorphic walking robot having four electric drives and an algorithm of control of its locomotion are described. The robot's feet are elongated in the direction perpendicular to its motion direction. This eliminates its lateral movement. Such feet do not affect the motion of the robot in the locomotion plane (saggital plane). In this plane, the feet contact the supporting plane only at one point, which stresses the complexity of control of a biped walking robot as an unstable mechanical object. The control is based on tracking programmed trajectories constructed in the process of locomotion on the basis of information about the attitude and velocities of robot links. The control algorithm also employs the information about forces of reactions of the supporting plane applied to the ends of the robot legs. The developed algorithm ahs been successfully tested in experiments.
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