THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F03%3APU37862" target="_blank" >RIV/00216305:26210/03:PU37862 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

angličtina

Název v původním jazyce

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Popis výsledku v původním jazyce

The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneoous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.

Název v anglickém jazyce

THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS

Popis výsledku anglicky

The paper describes possible way of discretization of continuous state space of four-leg robot through simultaneous behaviour compositions, which are obtained by activation of simple basic controllers instances. The compositions are activated from non-deterministic state machine. The corresponding evaluation of state machine transitions is assigned to particular compositions of controllers in such a way, that the estimation of future profit from single transitions is sequentially improved and simultaneoous compositions of controllers with highest estimate of future profit are activated hereby. The task is studied in 2-D space, corresponding to the robot platform movement paralelly to terrain plane, with respect to static stability of the robot. The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.

Druh

D - Stať ve sborníku

CEP obor

JD - Využití počítačů, robotika a její aplikace

OECD FORD obor

—

Projekt

—

Návaznosti

Z - Vyzkumny zamer (s odkazem do CEZ)

Rok uplatnění

2003

Kód důvěrnosti údajů

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

Název statě ve sborníku

Electrical Drives and Power Electronics 2003

ISBN

ISBN 80-89061-7

ISSN

—

e-ISSN

—

Počet stran výsledku

6

Strana od-do

211-216

Název nakladatele

Neuveden

Místo vydání

Košice, SK

Místo konání akce

Hotel Permon, The High Tatras

Datum konání akce

24. 9. 2003

Typ akce podle státní příslušnosti

WRD - Celosvětová akce

Kód UT WoS článku

—