Design of Coordination Mechanism of Walking Robot Gait Controllers

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F05%3APU63372" target="_blank" >RIV/00216305:26210/05:PU63372 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

čeština

Original language name

Design of Coordination Mechanism of Walking Robot Gait Controllers

Original language description

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 aslimitations 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.

Czech name

Design of Coordination Mechanism of Walking Robot Gait Controllers

Czech description

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 aslimitations 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.

Type

D - Article in proceedings

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

2005

Confidentiality

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

Article name in the collection

Engeneering Mechanics 2005

ISBN

80-85918-93-5

ISSN

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e-ISSN

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Number of pages

2

Pages from-to

61-62

Publisher name

Neuveden

Place of publication

Praha

Event location

Svratka

Event date

May 9, 2005

Type of event by nationality

CST - Celostátní akce

UT code for WoS article

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