Detail publikace

Using Virtual Prototype for the testing of algorithms generating robot's walking gait

ONDROUŠEK, V. BŘEZINA, T. KREJSA, J. HOUŠKA, P.

Originální název

Using Virtual Prototype for the testing of algorithms generating robot's walking gait

Typ

kapitola v knize

Jazyk

angličtina

Originální abstrakt

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.

Klíčová slova

robot, walking gait, A-star, beam search

Autoři

ONDROUŠEK, V.; BŘEZINA, T.; KREJSA, J.; HOUŠKA, P.

Rok RIV

2006

Vydáno

15. 12. 2006

ISBN

80-214-3341-8

Kniha

Simulation Modelling of Mechatronic Systems II

Edice

mechatronics

Číslo edice

1

Strany od

121

Strany do

130

Strany počet

10

BibTex

@inbook{BUT55092,
  author="Vít {Ondroušek} and Tomáš {Březina} and Jiří {Krejsa} and Pavel {Houška}",
  title="Using Virtual Prototype for the testing of algorithms generating robot's walking gait",
  booktitle="Simulation Modelling of Mechatronic Systems II",
  year="2006",
  series="mechatronics",
  edition="1",
  pages="121--130",
  isbn="80-214-3341-8"
}