Detail publikace

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Originální název

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Anglický název

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Jazyk

en

Originální abstrakt

The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.

Anglický abstrakt

The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.

BibTex


@inproceedings{BUT8151,
  author="Tomáš {Březina} and Pavel {Houška} and Vladislav {Singule}",
  title="THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS",
  annote="The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot.
The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.",
  booktitle="Electrical Drives and Power Electronics 2003",
  chapter="8151",
  edition="Neuveden",
  year="2003",
  month="september",
  pages="211",
  type="conference paper"
}