Calculation and determination of the stability area of an educational anthropomorphous robot
- Authors: Ipatov D.V.1, Petrov K.V.1, Chernobryvets M.A.2, Kulagin K.A.3
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Affiliations:
- Moscow Polytechnic University
- Bauman Moscow State Technical University (National Research University)
- V.A. Trapeznikov Institute of Control Sciences of RAS
- Issue: No 117 (2025)
- Pages: 141-170
- Section: Mathematical control theory
- URL: https://ogarev-online.ru/1819-2440/article/view/360561
- DOI: https://doi.org/10.25728/ubs.2025.117.7
- ID: 360561
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Abstract
This article discusses the development and study of the educational anthropomorphic robot of the STEM Academy kit. The robot design features increased mass and mass redistribution with heavier feet to lower the center of mass in order to improve stability. The Denavit – Hartenberg technique was used to analyze the kinematic characteristics. A dynamic model wascompiled to calculate the external forces acting on the robot, taking into account the gravity forces acting on the drives based on the Newton – Euler method. A model wasconstructed for the dependence of the zero moment point on the servo rotation angles taking into account the position of the center of mass of each link. An experimental determination of the zero moment point was carried out using strain gauges, the results of which were compared with theoretical data. A new term, the "region of guaranteed static stability" (ROGSS), was introduced, which is a subset of the fundamental concept of the "region of stability", supplemented by taking into account technological factors. An experimental analysis of the stability area of the ROGSS robot was also conducted, which showed that the ROGSS does not correspond to the dimensions of the stability area described by the physical contour of the foot. Comparison of theoretical and experimental results showed that the calculated mathematical model can be integrated into the control system of an anthropomorphic robot, as well as into a simulator of motion programming for assessing static stability. The results obtained allow predicting the stability of the target position in statics and can serve as a basis for further research into dynamic stabilization algorithms.
About the authors
Dmitrii Vladimirovich Ipatov
Moscow Polytechnic University
Email: ipatow.dima2014@yandex.ru
Moscow
Konstantin Vladimirovich Petrov
Moscow Polytechnic University
Email: r.92rab@gmail.com
Moscow
Michael Andreevich Chernobryvets
Bauman Moscow State Technical University (National Research University)
Email: misha8cher@gmail.com
Moscow
Konstantin Aleksandrovich Kulagin
V.A. Trapeznikov Institute of Control Sciences of RAS
Email: Kka86@bk.ru
Moscow
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