Publication result detail

Modeling of Kinematics, Dynamics and Design of Electronics Control Unit for an Experimental Robot with Hybrid Locomotion

GREPL, R.; ČOUPEK, P.; RADOŠ, J.; KONVIČNÝ, J.; KREJČÍK, M.

Original Title

Modeling of Kinematics, Dynamics and Design of Electronics Control Unit for an Experimental Robot with Hybrid Locomotion

English Title

Modeling of Kinematics, Dynamics and Design of Electronics Control Unit for an Experimental Robot with Hybrid Locomotion

Type

Paper in proceedings (conference paper)

Original Abstract

This paper presents particular design and construction of robot with hybrid locomotion. First, the state-of-the-art situation of wheeled/walking robots designs si described. Hybrid locomotion is chosen as to gain benefits fo both robot designs. The resulting mechatronic solution is presented, icnluding the associated modelling of kinematics and dynamics, including used algorithms. Mechanical design is then intorduced, consisting of model produced by 3D laser sintering technology, fitted with necessary control and power electronics.

English abstract

This paper presents particular design and construction of robot with hybrid locomotion. First, the state-of-the-art situation of wheeled/walking robots designs si described. Hybrid locomotion is chosen as to gain benefits fo both robot designs. The resulting mechatronic solution is presented, icnluding the associated modelling of kinematics and dynamics, including used algorithms. Mechanical design is then intorduced, consisting of model produced by 3D laser sintering technology, fitted with necessary control and power electronics.

Keywords

mobile robot, hybrid locomotion, walking robot, statics, kinematics, SimMechanics

Key words in English

mobile robot, hybrid locomotion, walking robot, statics, kinematics, SimMechanics

Authors

GREPL, R.; ČOUPEK, P.; RADOŠ, J.; KONVIČNÝ, J.; KREJČÍK, M.

RIV year

2016

Released

21.09.2015

Publisher

Springer

ISBN

978-3-319-23921-7

Book

Advanced Mechatronics Solutions

ISBN

2194-5357

Periodical

Advances in Intelligent Systems and Computing

State

Swiss Confederation

Pages from

39

Pages to

44

Pages count

6

BibTex

@inproceedings{BUT117357,
  author="Robert {Grepl} and Pavel {Čoupek} and Jiří {Radoš} and Jiří {Konvičný} and Martin {Krejčík}",
  title="Modeling of Kinematics, Dynamics and Design of Electronics Control Unit for an Experimental Robot with Hybrid Locomotion",
  booktitle="Advanced Mechatronics Solutions",
  year="2015",
  journal="Advances in Intelligent Systems and Computing",
  pages="39--44",
  publisher="Springer",
  isbn="978-3-319-23921-7",
  issn="2194-5357"
}