Publication detail

Řízení experimentálního robotu s využitím simulačního modelu

Original Title

Řízení experimentálního robotu s využitím simulačního modelu

Czech Title

Řízení experimentálního robotu s využitím simulačního modelu

Language

cs

Original Abstract

This paper describes the scheme of remote operator control of mobile walking robot. Control structure is appropriate for low level control of robot (full operator supervision) and for initial phase of robot design. Kinematic and dynamic model are built in Matlab--Simulink--SimMechanics environment. Computation speed of model allowed real--time control of robot. Adopted approach is tested on small experimental physical model - quadruped walking robot with four legs and 12 d.o.f. overall.

Czech abstract

This paper describes the scheme of remote operator control of mobile walking robot. Control structure is appropriate for low level control of robot (full operator supervision) and for initial phase of robot design. Kinematic and dynamic model are built in Matlab--Simulink--SimMechanics environment. Computation speed of model allowed real--time control of robot. Adopted approach is tested on small experimental physical model - quadruped walking robot with four legs and 12 d.o.f. overall.

Documents

BibTex


@inproceedings{BUT14024,
  author="Robert {Grepl} and Stanislav {Věchet} and Milan {Bezdíček} and Michal {Švehlák} and Jaroslav {Chmelíček}",
  title="Řízení experimentálního robotu s využitím simulačního modelu",
  annote="This paper describes the scheme of remote operator control of mobile walking robot. Control structure is appropriate for low level control of robot (full operator supervision) and for initial phase of robot design. 
Kinematic and dynamic model are built in Matlab--Simulink--SimMechanics environment. Computation speed of model allowed real--time control of robot. 
Adopted approach is tested on small experimental physical model - quadruped walking robot with four legs and 12 d.o.f. overall.",
  booktitle="Engineering mechanics 2004",
  chapter="14024",
  year="2004",
  month="may",
  pages="101",
  type="conference paper"
}