Publication detail

Control Of Experimental Walking Robot Using Simulating Model

GREPL, R. VĚCHET, S. BEZDÍČEK, M. ŠVEHLÁK, M. CHMELÍČEK, J.

Czech title

Řízení experimentálního robotu s využitím simulačního modelu

English title

Control Of Experimental Walking Robot Using Simulating Model

Type

Paper in proceedings (conference paper)

Language

cs

Original abstract

This paper describes the scheme of remote operator control of mobile walking robot. Control structure is appropriate for low level control of robot (full operator supervision) and for initial phase of robot design. Kinematic and dynamic model are built in Matlab--Simulink--SimMechanics environment. Computation speed of model allowed real--time control of robot. Adopted approach is tested on small experimental physical model – quadruped walking robot with four legs and 12 d.o.f. overall.

English abstract

This paper describes the scheme of remote operator control of mobile walking robot. Control structure is appropriate for low level control of robot (full operator supervision) and for initial phase of robot design. Kinematic and dynamic model are built in Matlab--Simulink--SimMechanics environment. Computation speed of model allowed real--time control of robot. Adopted approach is tested on small experimental physical model – quadruped walking robot with four legs and 12 d.o.f. overall.

Keywords in English

walking robot, dynamic model, matlab

Released

2004-05-10

Location

Praha

ISBN

80-85918-88-9

Book

Engineering mechanics 2004

Pages from–to

101–

Pages count

102

BIBTEX


@inproceedings{BUT14024,
  author="Robert {Grepl} and Stanislav {Věchet} and Milan {Bezdíček} and Michal {Švehlák} and Jaroslav {Chmelíček}",
  title="Řízení experimentálního robotu s využitím simulačního modelu",
  booktitle="Engineering mechanics 2004",
  year="2004",
  pages="102",
  address="Praha",
  isbn="80-85918-88-9"
}