Control Algorithm of the Walker Climbing Over Obstacles

The paper deals with the problem of development the multilevel control algorithms fo r six-legged automatic walker, which provide the walker with the possibility to analyse the terrain profile before it while moving over rough terrain , and to synthesize adequate, rather reasonable kinematics of body and legs for walker's locomotion along the route and climbing over obstacles on it s way. DC simulation and analysis of walker's model moving image on DC display screen make it possible to evaluate the algorithms developed and to find ways for their improvement.In IJCAI-73: THIRD INTERNATIONAL JOINT CONFERENCE ON ARTIFICIAL INTELLIGENCE, 20-23 August 1973, Stanford University Stanford, California.