Control of machines that walk

The problem of creating a walking machine arises in automating different operation; for example, in nuclear power, it is important that the robot-manipulator have high maneuverability, the capability of stepping over obstacles, climbing ladders, and so on. From this standpoint a stepping machine is promising (locomotion robot). However, it should be kept in mind that at the present time it is difficult to reproduce walking artificially, and, in general, the problem of creating a walking machine is not as simple as it appears at first glance. Different approaches have been proposed for solving the problem of artificial walking. The following questions are briefly considered; model of a stepping machine as a control object in the case of dynamic motion (statically unstable marching, movement by hopping), choice of program of motion, and synthesis of the stabilization algorithm