Step planning algorithm for n-legged walking robot with smooth direction control

Kód výsledku v IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F19%3APU133229" target="_blank" >RIV/00216305:26210/19:PU133229 - isvavai.cz</a>

Výsledek na webu

<a href="http://www.engmech.cz/im/proceedings/show/2019" target="_blank" >http://www.engmech.cz/im/proceedings/show/2019</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.21495/71-0-199" target="_blank" >10.21495/71-0-199</a>

Jazyk výsledku

angličtina

Název v původním jazyce

Step planning algorithm for n-legged walking robot with smooth direction control

Popis výsledku v původním jazyce

Precise step-planning algorithm is important when we want to drive an n-legged walking robot. Probably the most widely used precise control system is based on neural networks, but those require a lot of computing power. The main goal of this paper is to propose a computationally efficient method for precise and smooth movement of a robot. An algorithm capable of computing end-step position based on movement around a circle was developed. It can be driven by control vector or (with minor modification) by a radius and a tangent. It is simple to implement, adjust and debug, and needs only a small amount of computational power. The proposed algorithm only generates the end points of each step. It can be used as a basis for more complex solution and can be also used in a system with a large number of legs. The movement of body, the kinematics of mechanical parts and the manipulation of center of mass must be solved by other algorithms.

Název v anglickém jazyce

Step planning algorithm for n-legged walking robot with smooth direction control

Popis výsledku anglicky

Precise step-planning algorithm is important when we want to drive an n-legged walking robot. Probably the most widely used precise control system is based on neural networks, but those require a lot of computing power. The main goal of this paper is to propose a computationally efficient method for precise and smooth movement of a robot. An algorithm capable of computing end-step position based on movement around a circle was developed. It can be driven by control vector or (with minor modification) by a radius and a tangent. It is simple to implement, adjust and debug, and needs only a small amount of computational power. The proposed algorithm only generates the end points of each step. It can be used as a basis for more complex solution and can be also used in a system with a large number of legs. The movement of body, the kinematics of mechanical parts and the manipulation of center of mass must be solved by other algorithms.

Druh

D - Stať ve sborníku

CEP obor

—

OECD FORD obor

20204 - Robotics and automatic control

Projekt

—

Návaznosti

S - Specificky vyzkum na vysokych skolach

Rok uplatnění

2019

Kód důvěrnosti údajů

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

Název statě ve sborníku

ENGINEERING MECHANICS 2019

ISBN

978-80-87012-71-0

ISSN

—

e-ISSN

—

Počet stran výsledku

4

Strana od-do

199-202

Název nakladatele

Neuveden

Místo vydání

neuveden

Místo konání akce

Svratka

Datum konání akce

13. 5. 2019

Typ akce podle státní příslušnosti

EUR - Evropská akce

Kód UT WoS článku

000613255300044