TY JOUR TI ANALYSIS OF CONTROL METHODS AND ALGORITHMS FOR WALKING ROBOTS TAKING INTO ACCOUNT THE NONLINEAR PROPERTIES OF THE ROBOT SEN-SOR SYSTEM KW two-legged walking robot KW control system KW quadratic programming task KW CTC controller KW CLQR con-troller KW NQPC controller KW observer JO Bulletin of Belgorod State Technological University named after. V. G. Shukhov AU Savin, S.I. AU Vorochaeva, L.Y. PY 2019 IS 4 PB Belgorod State Technological University named after V.G. Shukhov