Detail publikace
Step planning algorithm for n-legged walking robot with smooth direction control
KRÁLÍK, J. VENGLÁŘ, V.
Anglický název
Step planning algorithm for n-legged walking robot with smooth direction control
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
Precise step-planning algorithm is important when we want to drive an n-legged walking robot. Probably the most widely used precise control system is based on neural networks, but those require a lot of computing power. The main goal of this paper is to propose a computationally efficient method for precise and smooth movement of a robot. An algorithm capable of computing end-step position based on movement around a circle was developed. It can be driven by control vector or (with minor modification) by a radius and a tangent. It is simple to implement, adjust and debug, and needs only a small amount of computational power. The proposed algorithm only generates the end points of each step. It can be used as a basis for more complex solution and can be also used in a system with a large number of legs. The movement of body, the kinematics of mechanical parts and the manipulation of center of mass must be solved by other algorithms.
Anglický abstrakt
Precise step-planning algorithm is important when we want to drive an n-legged walking robot. Probably the most widely used precise control system is based on neural networks, but those require a lot of computing power. The main goal of this paper is to propose a computationally efficient method for precise and smooth movement of a robot. An algorithm capable of computing end-step position based on movement around a circle was developed. It can be driven by control vector or (with minor modification) by a radius and a tangent. It is simple to implement, adjust and debug, and needs only a small amount of computational power. The proposed algorithm only generates the end points of each step. It can be used as a basis for more complex solution and can be also used in a system with a large number of legs. The movement of body, the kinematics of mechanical parts and the manipulation of center of mass must be solved by other algorithms.
Klíčová slova anglicky
Walking robot, Planning Algorithm, Legged robot, Precise control, Quadruped
Vydáno
13.05.2019
ISBN
978-80-87012-71-0
Kniha
ENGINEERING MECHANICS 2019
Strany od–do
199–202
Počet stran
4
BIBTEX
@inproceedings{BUT158485,
author="Jan {Králík} and Vojtěch {Venglář},
title="Step planning algorithm for n-legged walking robot with smooth direction control",
booktitle="ENGINEERING MECHANICS 2019
",
year="2019",
month="May",
pages="199--202",
isbn="978-80-87012-71-0"
}