Publication detail
Design of Coordination Mechanism of Walking Robot Gait Controllers
ONDROUŠEK, V. BŘEZINA, T.
Czech title
Design of Coordination Mechanism of Walking Robot Gait Controllers
English title
Design of Coordination Mechanism of Walking Robot Gait Controllers
Type
conference paper
Language
cs
Original abstract
The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well as limitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.
Czech abstract
The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well as limitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.
English abstract
The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well as limitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.
Keywords in English
walking gait, four-legged, robot, DEDS
RIV year
2005
Released
01.05.2005
Location
Praha
ISBN
80-85918-93-5
Book
Engeneering Mechanics 2005
Journal
Nezařazené články
Pages from–to
61–62
Pages count
2
BIBTEX
@inproceedings{BUT24801,
author="Vít {Ondroušek} and Tomáš {Březina},
title="Design of Coordination Mechanism of Walking Robot Gait Controllers",
journal="Nezařazené články",
booktitle="Engeneering Mechanics 2005",
year="2005",
month="May",
pages="61--62",
address="Praha",
isbn="80-85918-93-5"
}