Publication detail

Design of Coordination Mechanism of Walking Robot Gait Controllers

ONDROUŠEK, V. BŘEZINA, T.

Original Title

Design of Coordination Mechanism of Walking Robot Gait Controllers

English Title

Design of Coordination Mechanism of Walking Robot Gait Controllers

Type

conference paper

Language

Czech

Original Abstract

The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well as limitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.

English abstract

The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well as limitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.

Key words in English

walking gait, four-legged, robot, DEDS

Authors

ONDROUŠEK, V.; BŘEZINA, T.

RIV year

2005

Released

1. 5. 2005

Location

Praha

ISBN

80-85918-93-5

Book

Engeneering Mechanics 2005

Edition

1

Pages from

61

Pages to

62

Pages count

2

BibTex

@inproceedings{BUT24801,
  author="Vít {Ondroušek} and Tomáš {Březina}",
  title="Design of Coordination Mechanism of Walking Robot Gait Controllers",
  booktitle="Engeneering Mechanics 2005",
  year="2005",
  series="1",
  pages="61--62",
  address="Praha",
  isbn="80-85918-93-5"
}