Publication result detail

Using Virtual Prototype for the testing of algorithms generating robot's walking gait

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

Original Title

Using Virtual Prototype for the testing of algorithms generating robot's walking gait

English Title

Using Virtual Prototype for the testing of algorithms generating robot's walking gait

Type

Chapter in a book

Original Abstract

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

English abstract

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

Keywords

robot, walking gait, A-star, beam search

Key words in English

robot, walking gait, A-star, beam search

Authors

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

RIV year

2010

Released

15.12.2006

ISBN

80-214-3341-8

Book

Simulation Modelling of Mechatronic Systems II

Edition

mechatronics

Pages from

121

Pages to

130

Pages count

10

BibTex

@inbook{BUT55092,
  author="Vít {Ondroušek} and Tomáš {Březina} and Jiří {Krejsa} and Pavel {Houška}",
  title="Using Virtual Prototype for the testing of algorithms generating robot's walking gait",
  booktitle="Simulation Modelling of Mechatronic Systems II",
  year="2006",
  series="mechatronics",
  edition="1",
  pages="121--130",
  isbn="80-214-3341-8"
}