Using Virtual Prototype for the testing of algorithms generating robot's walking gait
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F06%3APU66817" target="_blank" >RIV/00216305:26210/06:PU66817 - isvavai.cz</a>
Result on the web
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DOI - Digital Object Identifier
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Alternative languages
Result language
angličtina
Original language name
Using Virtual Prototype for the testing of algorithms generating robot's walking gait
Original language description
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.
Czech name
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Czech description
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Classification
Type
C - Chapter in a specialist book
CEP classification
JD - Use of computers, robotics and its application
OECD FORD branch
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Result continuities
Project
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Continuities
Z - Vyzkumny zamer (s odkazem do CEZ)
Others
Publication year
2006
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Book/collection name
Simulation Modelling of Mechatronic Systems II
ISBN
80-214-3341-8
Number of pages of the result
10
Pages from-to
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Number of pages of the book
278
Publisher name
Neuveden
Place of publication
Neuveden
UT code for WoS chapter
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