Detail publikace
Experimentální čtyřnohý kráčející robot: koncepce, konstrukce, řízení
GREPL, R. BEZDÍČEK, M. ŠVEHLÁK, M. CHMELÍČEK, J.
Český název
Experimentální čtyřnohý kráčející robot: koncepce, konstrukce, řízení
Anglický název
Experimental quadruped walking robot: conception, design, control
Typ
článek v časopise - ostatní, Jost
Jazyk
en
Originální abstrakt
Walking mobile robots are in the center of scientific interest for many research laboratories all over the world. Specific problems of legged machines are e.g.: gait, stability, design of pedal mechanisms, synchronization of drives etc. Such complicated problems demand an experimental testing on the physical model of the designed robot. The reason is mainly the difficulty to model various uncertain states of robot, the inaccuracy of sensors and similar properties of real world. The aim of project presents in this paper was to build a low-cost experimental walking robot. Robot is four legged, three d.o.f. each leg. Small Hitec servos are used in the design. Control unit is composed by two Atmel Atmega microcontrolers – one for the control of servodrives, the main for communication to PC, kinematic model and other tasks. Actually the physical model is able to perform walk on the plain independently or there is possible to solve more complicated problems using computation on PC. In this paper is described the concept and design details of mentioned physical model.
Český abstrakt
V článku je prezentován projekt experimentálního kráčejícího robotu. Využita jsou RC serva, řídící jednotak je sestavena z mikrokontrolerů Atmel ATMega.
Anglický abstrakt
Walking mobile robots are in the center of scientific interest for many research laboratories all over the world. Specific problems of legged machines are e.g.: gait, stability, design of pedal mechanisms, synchronization of drives etc. Such complicated problems demand an experimental testing on the physical model of the designed robot. The reason is mainly the difficulty to model various uncertain states of robot, the inaccuracy of sensors and similar properties of real world. The aim of project presents in this paper was to build a low-cost experimental walking robot. Robot is four legged, three d.o.f. each leg. Small Hitec servos are used in the design. Control unit is composed by two Atmel Atmega microcontrolers – one for the control of servodrives, the main for communication to PC, kinematic model and other tasks. Actually the physical model is able to perform walk on the plain independently or there is possible to solve more complicated problems using computation on PC. In this paper is described the concept and design details of mentioned physical model.
Klíčová slova anglicky
mobile walking robot, four legged robot, neural network control, construction of robot, Matlab SimMechanics
Rok RIV
2004
Vydáno
23.09.2004
Nakladatel
Sigma
ISSN
0033-2089
Časopis
Elektronika
Ročník
2004
Číslo
8-9
Počet stran
2
BIBTEX
@article{BUT42146,
author="Robert {Grepl} and Milan {Bezdíček} and Michal {Švehlák} and Jaroslav {Chmelíček},
title="Experimental quadruped walking robot: conception, design, control",
journal="Elektronika",
year="2004",
volume="2004",
number="8-9",
month="September",
publisher="Sigma",
issn="0033-2089"
}