Design of Coordination Mechanism of Walking Robot Gait Controllers

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F05%3APU63372" target="_blank" >RIV/00216305:26210/05:PU63372 - isvavai.cz</a>

Výsledek na webu

—

DOI - Digital Object Identifier

—

Jazyk výsledku

čeština

Název v původním jazyce

Design of Coordination Mechanism of Walking Robot Gait Controllers

Popis výsledku v původním jazyce

The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well aslimitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.

Název v anglickém jazyce

Design of Coordination Mechanism of Walking Robot Gait Controllers

Popis výsledku anglicky

The contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well aslimitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.

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

2005

Kód důvěrnosti údajů

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

Název statě ve sborníku

Engeneering Mechanics 2005

ISBN

80-85918-93-5

ISSN

—

e-ISSN

—

Počet stran výsledku

2

Strana od-do

61-62

Název nakladatele

Neuveden

Místo vydání

Praha

Místo konání akce

Svratka

Datum konání akce

9. 5. 2005

Typ akce podle státní příslušnosti

CST - Celostátní akce

Kód UT WoS článku

—