Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F07%3APU65666" target="_blank" >RIV/00216305:26210/07:PU65666 - isvavai.cz</a>

Result on the web

—

DOI - Digital Object Identifier

—

Result language

angličtina

Original language name

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

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 main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonablefoundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

Czech name

Simulation Testing Of Algorithms Generating Robot's Walking Gaits

Czech description

This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The main aim is to design such a way of software simulation of robot's walking gait that will lay a reasonablefoundation for testing different algorithms of walking gait generation. Informed state space search methods are used for generating the walking gaits. In order to approximate the real world behavior the simulation must include legs position imperfections. To reduce the search time and memory requirements in long trajectories the division of the trajectory to several segments defined by trajectory checkpoints was introduced. Verification of the discussed algorithms and proposed rules is provided using the above mentioned software simulation.

Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

—

Project

—

Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2007

Confidentiality

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

Article name in the collection

Production Machines Automation 2007

ISBN

80-01-03660-X

ISSN

—

e-ISSN

—

Number of pages

6

Pages from-to

122-127

Publisher name

České Vysoké Učení Technické v Praze, Fakulta Strojní

Place of publication

Praha

Event location

Praha

Event date

Feb 7, 2007

Type of event by nationality

EUR - Evropská akce

UT code for WoS article

—