Detail publikačního výsledku

Simulating modelling of quadruped robot gait control

GREPL, R.

Originální název

Simulating modelling of quadruped robot gait control

Anglický název

Simulating modelling of quadruped robot gait control

Druh

Článek recenzovaný mimo WoS a Scopus

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova v angličtině

walking robot, simulation, SimMechanics

Autoři

GREPL, R.

Vydáno

20.09.2005

Místo

Brno

ISSN

1210-2717

Periodikum

Inženýrská mechanika - Engineering Mechanics

Svazek

12

Číslo

4

Stát

Česká republika

Strany od

245

Strany počet

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"
}