THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU37862" target="_blank" >RIV/00216305:26210/03:PU37862 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Result language
angličtina
Original language name
THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS
Original language description
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 simultaneoous 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.
Czech name
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Czech description
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Publication year
2003
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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