Simple model of underactuated walking robot
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F67985556%3A_____%2F15%3A00444653" target="_blank" >RIV/67985556:_____/15:00444653 - isvavai.cz</a>
Result on the web
<a href="http://dx.doi.org/10.1109/ASCC.2015.7244755" target="_blank" >http://dx.doi.org/10.1109/ASCC.2015.7244755</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1109/ASCC.2015.7244755" target="_blank" >10.1109/ASCC.2015.7244755</a>
Alternative languages
Result language
angličtina
Original language name
Simple model of underactuated walking robot
Original language description
The paper deals with an initial design of a simple mechanical model of an underactuated walking robot. The mechanical model was built in order to verify already developed control algorithms for underactuated walking robots. Indeed, in simulations, thesealgorithms can guarantee that the model will produce a motion resembling human walking. Nevertheless, they were not verified in an application of a real underactuated walking robot control. The presented simple mechanical model consists of two mechanicallegs connected in a hip via actuators. Each leg is composed of two links equipped with an actuator in order to bend or straighten the leg. Printed circuit boards (PCB) were designed and mounted on each link in order to control the attached actuator andmeasure states of the corresponding link. Each PCB is equipped with a microprocessor, a CPLD, a full bridge driver, a gyroscope sensor, A/D converters and a CAN bus driver.
Czech name
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
BC - Theory and management systems
OECD FORD branch
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Result continuities
Project
<a href="/en/project/GA13-20433S" target="_blank" >GA13-20433S: Analysis and control of globally decomposed strongly nonlinear state space dynamical models with complex interactions of their components</a><br>
Continuities
I - Institucionalni podpora na dlouhodoby koncepcni rozvoj vyzkumne organizace
Others
Publication year
2015
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 10th Asian Control Conference (ASCC 2015). ISBN 978-1-4799-7862-5
ISBN
978-1-4799-7862-5
ISSN
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e-ISSN
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Number of pages
6
Pages from-to
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Publisher name
IEEE
Place of publication
Kota Kinabalu, Sabah, Malajsie
Event location
Sutera Harbour Resort, Kota Kinabalu, Sabah
Event date
May 31, 2015
Type of event by nationality
WRD - Celosvětová akce
UT code for WoS article
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