Development of Algorithmic and Software Hardware for the Control System of a Bionic Walking Robot

The paper considers the topical issue of the development of bionic walking robots of the Felida class. Information is provided on the research work carried out and the experimental design development of an interactive bionic robot. The purpose of this work is to develop approaches to creating a mobile robotic system that moves in steps, which allows it to move through an unprepared area in advance. The object of the study is a bionic walking robot developed by the authors. The multilevel structure of the walking robot control system is presented in this paper. The analysis of the results of the study of the biological characteristics of felid was carried out and the control elements subject to bionic synthesis were identified. The paper reflects the comparative characteristics of the developed bionic walking robot and its analogue. There is a model of a bionic walking robot and the kinematics of its supports. The software model of the robot consider interaction between control and actuators of the robot on the ROS platform, as part of the links between publisher and subscriber nodes. The hardware architecture organized according to the principle of a two-level control architecture. The first hardware and software level (the control body of the first level) and the second level implements the interface for interaction of application services with the subsystem of the first level. This paper can be useful for both educational and research tasks in the field of developing bionic walking robots.