Motion stabilization of bipedal walking robots in virtual environment systems

The study is intended to develop methods and approaches for motion stabilization of bipedal walking robots in virtual environment systems. A virtual environment with virtual models is best suited for testing and refining robot control algorithms. This reduces the risk of the actual robot's breakdown and facilitates making expert opinions on the robot's applicability for critical operations. The proposed solutions use a controller with feedback from virtual sensors. The controller keeps the robot's motion stable using the zero moment point criterion, and the inverted pendulum model. The sliding mode control is used. This approach does not require extensive calculations, solving nonlinear algebraic equations, or complex matrix operations by the controller. The proposed approach was proven with a virtual environment for a fire-extinguishing robot. The simulation ensures the balance of a bipedal walking robot as it moves.