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
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Czech description
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Classification
Type
D - Article in proceedings
CEP classification
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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
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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
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