Abstract
The study deals with the control of a two–legged walking robot with elastic elements integrated into its links between the respective actuators and gearboxes. A mathematical model of the movement of the device in the sagittal plane, as well as a model of series elastic actuators, have been presented. A robot control algorithm based on the use of the CLQR controller is proposed. As a result of numerical simulation, the influence of elastic elements and their parameters on the robot dynamics has been established, taking into account the limitations of the drive torque (torque saturation) and the presence of nonlinearities in the sensor system of the object. The simulation was performed taking into account that the control system does not have access to a drive model with elastic elements.
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