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Information × Registration Number 0218U001937, 0117U001179 , R & D reports Title Anthropomorphic robotic transport device for human unloading in conditions of high risk and uncertainty of terrain popup.stage_title Head Stenin Alexandr Afrikanovich, Registration Date 26-12-2018 Organization Faculty of аircraft and space systems NTUU "KPI" popup.description2 A new analytical model of ARTD kinematics, model of the dynamic behavior of the walking apparatus when moving on an arbitrary surface. Shows the interaction of the executive bodies of the ARTD with its sensory system through the environment. Developed a strategy for dynamic sustainability of the ARTD, a mathematical description of its observance and recovery in handling cargo operations, a control system (CS) as a hierarchical distributed structure for controlling the robot's movement. The architecture and algorithms of the integrated CS was developed by the movement of the manipulators and CS for robotic transport device movement on a trajectory, as well as algorithms for its optimization taking into account the stability of work and the possibility of correcting a given trajectory using the developed special control channels. Product Description popup.authors Гуменний Дмитро Володимирович Карнага Ярослав Ігорович Поліщук Микола Миколайович Тимошин Юрій Афанасійович Ткач Михайло Мартинович popup.nrat_date 2020-04-02 Close