Detail publikace

Design of Coordination Mechanism of Walking Robot Gait Controllers

ONDROUŠEK, V. BŘEZINA, T.

Originální název

Design of Coordination Mechanism of Walking Robot Gait Controllers

Anglický název

Design of Coordination Mechanism of Walking Robot Gait Controllers

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

čeština

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova v angličtině

walking gait, four-legged, robot, DEDS

Autoři

ONDROUŠEK, V.; BŘEZINA, T.

Rok RIV

2005

Vydáno

1. 5. 2005

Místo

Praha

ISBN

80-85918-93-5

Kniha

Engeneering Mechanics 2005

Edice

1

Strany od

61

Strany do

62

Strany počet

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"
}