Design and Control of Self-Stabilizing Angular Robotics Anywalker

Abstract

Walking robots are designed to overcome obstacles when moving. The walking robot AnyWallker is developed, in the design of which the task of self-stabilization of the center of the mass is solved; a special type of chassis is developed, providing movement on high cross-country capability. The paper presents the results of designing and controlling the robot, the architecture of the software complex provides management and mastification of the hardware platform. AnyWalker is actually a chassis which can be used to build robots for many different purposes, such as surveying complex environment, industrial operations, and work in hazardous environment.