Publication detail
Dynamic model for stability control of walking robot
GREPL, R.
Czech title
Dynamický model pro řízení stability kráčejícího robotu
English title
Dynamic model for stability control of walking robot
Type
conference paper
Language
en
Original abstract
This paper deals with the building and utilization of numerical dynamic model of stability. The design of model and its solution is accomplished in Matlab/Simulink/SimMechanics environment. The model is designed for particular quadruped walking robot. The structure of the model is described in the text. Two examples of model application are shown at the end of the paper. Model can be used directly in SimMechanics for various analysis on PC or can be employed as a generator of training data for approximator.
Czech abstract
Článek se zabývá návrhem dynamického modelu pro zajištění stability robotu. Model je sestaven v prostředí Matlab-SimMechanics. Model je sestaven pro konkrétní čtyřnohý kráčející robot a může být použit přímo pro řízení nebo jako generátor dat pro aproximátor.
English abstract
This paper deals with the building and utilization of numerical dynamic model of stability. The design of model and its solution is accomplished in Matlab/Simulink/SimMechanics environment. The model is designed for particular quadruped walking robot. The structure of the model is described in the text. Two examples of model application are shown at the end of the paper. Model can be used directly in SimMechanics for various analysis on PC or can be employed as a generator of training data for approximator.
Keywords in English
dynamic model, quadruped robot, SimMechanics
RIV year
2004
Released
10.02.2004
Publisher
Institute of Thermomechanics, Academy of Science of the Czech Republic
Location
Praha
ISBN
80-85918-85-4
Book
Dynamika strojů 2004
Pages count
6
BIBTEX
@inproceedings{BUT13270,
author="Robert {Grepl},
title="Dynamic model for stability control of walking robot",
booktitle="Dynamika strojů 2004",
year="2004",
month="February",
publisher="Institute of Thermomechanics, Academy of Science of the Czech Republic",
address="Praha",
isbn="80-85918-85-4"
}