Kinematic algorithm for motion control of the stepping robot

The elaboration and research results of the kinematic control algorithm for two-feet stepping robot in the process of quasi-static pacing are set forth. Method of the tree-like executing mechanism kinematics description is proposed for stepping robot. Fictitious kinematic circuit and special system for links enumeration and corresponding variables indexation are used. Solution of the inverse kinematic problem is considered in increments, using the generalized reverse Jacobi matrix. Algorithms as well as results of mathematical simulation confirming high efficiency of proposed algorithms, are given.