Publication detail

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

ONDROUŠEK, V. BŘEZINA, T. KREJSA, J.

Original Title

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Type

conference paper

Language

English

Original Abstract

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.

Keywords

walking robot, walking gait

Authors

ONDROUŠEK, V.; BŘEZINA, T.; KREJSA, J.

RIV year

2007

Released

7. 2. 2007

Publisher

České Vysoké Učení Technické v Praze, Fakulta Strojní

Location

Praha

ISBN

80-01-03660-X

Book

Production Machines Automation 2007

Edition number

1

Pages from

122

Pages to

127

Pages count

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",
  number="1",
  pages="122--127",
  publisher="České Vysoké Učení Technické v Praze, Fakulta Strojní",
  address="Praha",
  isbn="80-01-03660-X"
}