Simulation and control of mobile walking robot using complex dynamic model

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F04%3APU44189" target="_blank" >RIV/00216305:26210/04:PU44189 - isvavai.cz</a>

Alternative codes found

RIV/61388998:_____/04:00103587

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Simulation and control of mobile walking robot using complex dynamic model

Original language description

Mobile robots act an important role in the field of service and maintenance in environments dangerous for a human. Walking robots represent separate part of mobile robots with specific problems: gait, stability, design of pedal mechanisms etc. One ofthebiggest challenge in area of robots design is their dynamic modelling. An advanced control algorithms are supposed to take into account the strong dynamic behaviour of the robot mechanism. This paper deals with the design of complex dynamic modell of quadruped walking mobil robot. There is described the method of building and simulating of numerical computational model. Complex model consist of the submodel of the robotic mechanism, the DC motor, the gearbox model and the thermal model of the electricalmotor. Control algorithms are also considered in model. In the paper is also discussed application of computational model directly for control of robot and also as a data generator for global and local approximation method.

Czech name

Simulace a řízení mobilního kráčejícího robotu s využitím komplexního dynamického modelu

Czech description

V článku se zabýváme návrhem kompelxního dynamického modelu čtyřnohého kráčejícího robotu. Komplexní model se skládá z submodelu mechanismu, převodovky, DC motoru a tepelného chování motoru.

Type

J_x - Unclassified - Peer-reviewed scientific article (Jimp, Jsc and Jost)

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2004

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Elektronika

ISSN

0033-2089

e-ISSN

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Volume of the periodical

2004

Issue of the periodical within the volume

8-9

Country of publishing house

PL - POLAND

Number of pages

2

Pages from-to

65-66

UT code for WoS article

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EID of the result in the Scopus database

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