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Control of Hexapod with Static-stable Walking Using Artificial Intelligence

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F60162694%3AG43__%2F16%3A00532887" target="_blank" >RIV/60162694:G43__/16:00532887 - isvavai.cz</a>

  • Alternative codes found

    RIV/68407700:21460/16:00312085

  • Result on the web

    <a href="http://vavtest.unob.cz/registr" target="_blank" >http://vavtest.unob.cz/registr</a>

  • DOI - Digital Object Identifier

Alternative languages

  • Result language

    angličtina

  • Original language name

    Control of Hexapod with Static-stable Walking Using Artificial Intelligence

  • Original language description

    The objective of article is to describe a method for signal processing and decision making process of six-legged robots. The model of the decision making process allows the hexapod to static stable walk on terrain with obstacles. The decision making process is based on the evaluation of leg positions and the states of six-legged body to maintain static stability. Control system of six legged robot model is composed of three main parts: walking pattern classification algorithm, fuzzy expert system, neural network for decision-making. This approach combines stand-alone method to solve problems of acyclic walking and methods of AI to speed up the decisionmaking process. The composite structure enables to apply the control law of the locomotion with help of the parallel cooperating control and learning. The control system of the hexapod allows to adopt the hexapod on the specific conditions of terrain. The new technique was verified by models of hexapod and terrain with obstacles. The described hierarchical technique based on coordination of mentioned methods has not been tested before. The process of determining the gait phases selects the safe action for each state to overcome the obstacles in the terrain.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

    KA - Militarism

  • OECD FORD branch

Result continuities

  • Project

  • Continuities

    S - Specificky vyzkum na vysokych skolach<br>I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace

Others

  • Publication year

    2016

  • Confidentiality

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

Data specific for result type

  • Article name in the collection

    Proceedings of the 2016 17th International Conference on Mechatronics - 17th Mechatronika (ME) 2016

  • ISBN

    978-800105883-1

  • ISSN

  • e-ISSN

  • Number of pages

    6

  • Pages from-to

    422-427

  • Publisher name

    Czech technical university in Prague

  • Place of publication

    Praha

  • Event location

    Praha

  • Event date

    Dec 7, 2016

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article