Publication 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.
Czech title
Modelování kinematiky, dynamiky a design elektroniky řídící jednotky pro experimentální robot s hybridním pohybem
English title
Modeling of Kinematics, Dynamics and Design of Electronics Control Unit for an Experimental Robot with Hybrid Locomotion
Type
conference paper
Language
en
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.
Czech abstract
Tento článek prezentuje design a konstrukci robota s hybridním pohybem.Nejprve je popsána situace moderních kolových /chodících robotů. Hybridní pohyb je zvolen proto, aby byly využity výhody obou těchto přístupů. Výsledné mechatronické řešení je prezentováno včetně modelů kinematiky a dynamiky, a také použitých algoritmů. Mechanické provedení je pak představeno pomocí modelu vytvořeného 3D laserové technologie, vybavené potřebnými řídicí a výkonové elektroniky.
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 in English
mobile robot, hybrid locomotion, walking robot, statics, kinematics, SimMechanics
RIV year
2015
Released
21.09.2015
Publisher
Springer
ISBN
978-3-319-23921-7
ISSN
2194-5357
Book
Advanced Mechatronics Solutions
Pages from–to
39–44
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",
month="September",
pages="39--44",
publisher="Springer",
isbn="978-3-319-23921-7",
issn="2194-5357"
}