Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Paper in proceedings (conference paper)

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonable foundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonable foundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

walking robot, walking gait

walking robot, walking gait

ONDROUŠEK, V.; BŘEZINA, T.; KREJSA, J.

07.02.2007

České Vysoké Učení Technické v Praze, Fakulta Strojní

Praha

80-01-03660-X

Production Machines Automation 2007

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