Publication result detail

Simulating modelling of quadruped robot gait control

GREPL, R.

Original Title

Simulating modelling of quadruped robot gait control

English Title

Simulating modelling of quadruped robot gait control

Type

Peer-reviewed article not indexed in WoS or Scopus

Original Abstract

This paper presents the concept of computer simulating model for robot--environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action execution. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model.

English abstract

This paper presents the concept of computer simulating model for robot--environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action execution. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model.

Key words in English

walking robot, simulation, SimMechanics

Authors

GREPL, R.

Released

20.09.2005

Location

Brno

ISBN

1210-2717

Periodical

Inženýrská mechanika - Engineering Mechanics

Volume

12

Number

4

State

Czech Republic

Pages from

245

Pages count

7

BibTex

@article{BUT45524,
  author="Robert {Grepl}",
  title="Simulating modelling of quadruped robot gait control",
  journal="Inženýrská mechanika - Engineering Mechanics",
  year="2005",
  volume="12",
  number="4",
  pages="7",
  issn="1210-2717"
}