Khomenko, ViacheslavHénaff, PatrickBorysenko, Volodymir2016-10-272016-10-272010Khomenko V. Measurement and compensation of mechanical vibrations in articulations of electromechanical biped robot / V. Khomenko, P. Hénaff, V. Borysenko // Вісник Нац. техн. ун-ту "ХПІ" : зб. наук. пр. Темат. вип. : Проблеми автоматизованого електропривода. Теорiя i практика. – Харків : НТУ "ХПІ", 2010. – № 28. – С. 316-317.https://repository.kpi.kharkov.ua/handle/KhPI-Press/24070We consider practical aspects of measurement and compensation of vibrations in articulations of biped robots. Our approach extracts angular oscillations information using two types of sensors mounted at the extremity of articulation: two axis inclination meter and tree axis accelerometer. Experiments are made to confirm this measurement method. We propose modifications to F.L. Lewis et al. neuronal network vibration compensation algorithm which simplify its practical implementation.enArticle