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Modeling Proprioceptive Sensing for Locomotion Control of Hexapod Walking Robot in Robotic Simulator

The result's identifiers

  • Result code in IS VaVaI

    <a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F68407700%3A21230%2F19%3A00336143" target="_blank" >RIV/68407700:21230/19:00336143 - isvavai.cz</a>

  • Result on the web

    <a href="https://link.springer.com/chapter/10.1007/978-3-030-14984-0_17" target="_blank" >https://link.springer.com/chapter/10.1007/978-3-030-14984-0_17</a>

  • DOI - Digital Object Identifier

    <a href="http://dx.doi.org/10.1007/978-3-030-14984-0_17" target="_blank" >10.1007/978-3-030-14984-0_17</a>

Alternative languages

  • Result language

    angličtina

  • Original language name

    Modeling Proprioceptive Sensing for Locomotion Control of Hexapod Walking Robot in Robotic Simulator

  • Original language description

    Proprioceptive sensing encompasses the state of the robot given by its overall posture, forces, and torques acting on its body. It is an important source of information, especially for multi-legged walking robots because it enables efficient locomotion control that adapts to morphological and environmental changes. In this work, we focus on enhancing a simplified model of the multi-legged robot employed in a realistic robotic simulator to provide high-fidelity proprioceptive sensor signals. The proposed model enhancements are based on parameter identification and static and dynamic modeling of the robot. The enhanced model enables the V-REP robotic simulator to be used in real-world deployments of multi-legged robots. The performance of the developed simulation has been verified in the parameter search of dynamic locomotion gait to optimize the locomotion speed according to the limited maximal torques and self-collision free execution.

  • Czech name

  • Czech description

Classification

  • Type

    D - Article in proceedings

  • CEP classification

  • OECD FORD branch

    10201 - Computer sciences, information science, bioinformathics (hardware development to be 2.2, social aspect to be 5.8)

Result continuities

  • Project

    <a href="/en/project/GA18-18858S" target="_blank" >GA18-18858S: Robotic Lifelong Learning of Multi-legged Robot Locomotion Control in Autonomous Data Collection Missions</a><br>

  • Continuities

    P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Others

  • Publication year

    2019

  • Confidentiality

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

Data specific for result type

  • Article name in the collection

    Modelling and Simulation for Autonomous Systems

  • ISBN

    978-3-030-14983-3

  • ISSN

    0302-9743

  • e-ISSN

  • Number of pages

    11

  • Pages from-to

    215-225

  • Publisher name

    Springer

  • Place of publication

    Basel

  • Event location

    Praha

  • Event date

    Oct 17, 2018

  • Type of event by nationality

    WRD - Celosvětová akce

  • UT code for WoS article