Publication detail
Using Virtual Prototype for the testing of algorithms generating robot's walking gait
ONDROUŠEK, V. BŘEZINA, T. KREJSA, J. HOUŠKA, P.
English title
Using Virtual Prototype for the testing of algorithms generating robot's walking gait
Type
Chapter in a book
Language
en
Original abstract
This contribution deals with the problem of automatic generation of different styles of statically stable walking gait of a four-legged robot. The search for appropriate strategies is based on the scanning of state space using an informed search algorithm called A* and an algorithm of beam search. This article compares these two methods and considers the suitability of their use. A tree is used to represent and describe the state space. The tree is generated using a set of elementary production rules chosen in order to obtain an acceptable complexity of the tree and algorithm response. Policies are continuously generated as short-time plans of robot movements. Verification of the discussed algorithms and proposed rules is provided using software simulation.
Keywords in English
robot, walking gait, A-star, beam search
Released
2006-12-15
ISBN
80-214-3341-8
Book
Simulation Modelling of Mechatronic Systems II
Pages from–to
121–130
Pages count
10
BIBTEX
@inbook{BUT55092,
author="Vít {Ondroušek} and Tomáš {Březina} and Jiří {Krejsa} and Pavel {Houška}",
title="Using Virtual Prototype for the testing of algorithms generating robot's walking gait",
booktitle="Simulation Modelling of Mechatronic Systems II",
year="2006",
series="mechatronics",
edition="1",
pages="121--130",
isbn="80-214-3341-8"
}