Selection of the Optimal Mode of Motion of a Two-Section Robot

We consider the movement of a robot consisting of two sections hingedly connected to each other by an actuator. The quasi-translational motion of robot sections is studied, characterized by the minimum standard deviation of their geometric centers from the horizontal OX axis. Optimality is assessed by a criterion consisting of two indicators: the minimum energy spent on accelerating each section and the minimum root-mean-square angles of their rotation.