Structural Identification of Humanoid-Robot Control System

The structure of the control system of a humanoid robot was analyzed, with its center singled out by analogy with the structure of the control system of a human. Despite the fact that the structure of the human control system remains insufficiently defined at the present time, the accumulated knowledge about it in cybernetics, control theory, anthropology, epistemology and other sciences makes it possible to find a center in it, as well as to determine its properties and functions. The main properties of the center of a human control system and, accordingly, a humanoid robot can be defined as bipolarity, correlativity and complementarity. Then, in the process of structural identification, a more accurate formal identification of a model of the humanoid-robot control system can be carried out using a class of models from the theory of automata. This approach to the structural identification enables the implementation of its output parameters with characteristics that meet the expectations and requirements of the robotics market in the short and long term. Studies were based on an interdisciplinary approach to determining the structure of a human control system, as well as a class of models from the theory of automata necessary to implement both structural and parametric identification. The structural identification of the humanoid-robot control system makes it possible to design such a structure that best meets the expectations and requirements of the robotics consumption market and the capacities of mathematical modeling of control systems.