Detail publikace

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

ONDROUŠEK, V. BŘEZINA, T. KREJSA, J.

Český název

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Anglický název

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonable foundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

Český abstrakt

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonable foundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

Anglický abstrakt

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonable foundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

Klíčová slova anglicky

walking robot, walking gait

Rok RIV

2007

Vydáno

07.02.2007

Nakladatel

České Vysoké Učení Technické v Praze, Fakulta Strojní

Místo

Praha

ISBN

80-01-03660-X

Kniha

Production Machines Automation 2007

Číslo edice

1

Strany od–do

122–127

Počet stran

6

BIBTEX


@inproceedings{BUT24492,
  author="Vít {Ondroušek} and Tomáš {Březina} and Jiří {Krejsa},
  title="Simulation Testing Of Algorithms Generating Robot's Walking Gaits",
  booktitle="Production Machines Automation 2007",
  year="2007",
  month="February",
  pages="122--127",
  publisher="České Vysoké Učení Technické v Praze, Fakulta Strojní",
  address="Praha",
  isbn="80-01-03660-X"
}