Publication detail

Simulating modelling of quadruped robot gait control

GREPL, R.

Original Title

Simulating modelling of quadruped robot gait control

English Title

Simulating modelling of quadruped robot gait control

Type

journal article - other

Language

en

Original Abstract

This paper presents the concept of computer simulating model for robot--environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action execution. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model.

English abstract

This paper presents the concept of computer simulating model for robot--environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action execution. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model.

RIV year

2005

Released

20.09.2005

Location

Brno

Pages from

245

Pages to

251

Pages count

7

Documents

BibTex


@article{BUT45524,
  author="Robert {Grepl}",
  title="Simulating modelling of quadruped robot gait control",
  annote="This paper presents the concept of computer simulating model for robot--environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action execution. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model.",
  chapter="45524",
  journal="Inženýrská mechanika - Engineering Mechanics",
  number="4",
  volume="12",
  year="2005",
  month="september",
  pages="245",
  type="journal article - other"
}