Ludmila Vorochaeva

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This paper considers a problem of controlling an pipeline walking robot. The proposed control system design uses a nested quadratic programming-based controller (NQPC). This controller enables control operations taking into account both equality and inequality of mechanical constraints and bounds influencing control values (i.e. motor torques). The proposed(More)
The authors of this paper consider a planar pipeline robot with four legs, each made of two links connected via actuated rotational joints. The paper is focused on developing a method for generating pace patterns that rely on analytical formulas and recursive algorithmic procedures, which can be easily implemented on the robot's on-board computer or(More)
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