Step planning algorithm for n-legged walking robot with smooth direction control

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F19%3APU133229" target="_blank" >RIV/00216305:26210/19:PU133229 - isvavai.cz</a>
Result on the web
<a href="http://www.engmech.cz/im/proceedings/show/2019" target="_blank" >http://www.engmech.cz/im/proceedings/show/2019</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.21495/71-0-199" target="_blank" >10.21495/71-0-199</a>

Result language
angličtina
Original language name
Step planning algorithm for n-legged walking robot with smooth direction control
Original language description
Precise step-planning algorithm is important when we want to drive an n-legged walking robot. Probably the most widely used precise control system is based on neural networks, but those require a lot of computing power. The main goal of this paper is to propose a computationally efficient method for precise and smooth movement of a robot. An algorithm capable of computing end-step position based on movement around a circle was developed. It can be driven by control vector or (with minor modification) by a radius and a tangent. It is simple to implement, adjust and debug, and needs only a small amount of computational power. The proposed algorithm only generates the end points of each step. It can be used as a basis for more complex solution and can be also used in a system with a large number of legs. The movement of body, the kinematics of mechanical parts and the manipulation of center of mass must be solved by other algorithms.
Czech name
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Czech description
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Publication year
2019
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

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