Publication detail

Experimental quadruped walking robot: conception, design, control

GREPL, R., BEZDÍČEK, M., ŠVEHLÁK, M., CHMELÍČEK, J.

Original Title

Experimental quadruped walking robot: conception, design, control

English Title

Experimental quadruped walking robot: conception, design, control

Type

journal article - other

Language

en

Original Abstract

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.

English abstract

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.

Keywords

mobile walking robot, four legged robot, neural network control, construction of robot, Matlab SimMechanics

RIV year

2004

Released

23.09.2004

Publisher

Sigma

Pages from

63

Pages to

64

Pages count

2

Documents

BibTex


@article{BUT42146,
  author="Robert {Grepl} and Milan {Bezdíček} and Michal {Švehlák} and Jaroslav {Chmelíček}",
  title="Experimental quadruped walking robot: conception, design, control",
  annote="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.",
  address="Sigma",
  chapter="42146",
  institution="Sigma",
  journal="Elektronika",
  number="8-9",
  volume="2004",
  year="2004",
  month="september",
  pages="63",
  publisher="Sigma",
  type="journal article - other"
}