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
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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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
KA - Militarism
OECD FORD branch
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Result continuities
Project
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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
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e-ISSN
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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
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