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[popis_en] => Analytical models describe opened kinematic chains. Sets of differential equations represent the analytical models. Solving of these sets is highly computational difficult. It is possible to use the system Matlab or specialized programs to solve them. A specialized original solver and its using is described in this article. The solver allows solve sets of differential equations, which describe the analytical models of the simulated systems. The solver is based on explicit Runge - Kutta formula (ode45). Its advantage is higher speed with comparable numerical accuracy with respect to the Matlab solvers. The solver allows provide further computational steps after finalization of previous execution.
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[popis_en] => The robot is able to make plane movements in the surroundings using a locomotive mechanism including planned interaction with the variable surrounding environment. The OMR III control system has been divided into three levels. The external process subsystem represents the top level of control. The operator can control the robot though it in case of the artificial intelligence algorithms not to be able to solve the given situation. The planning subsystem creates a higher level of control and it solves localisation of the mobile robot during global navigation.. The sensorial subsystem consists of two functionally different groups of sensors. The internal sensors provide information about changes of inner conditions of the robot..
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[popis_en] => The leg design is described in the contribution. Some possibilities of leg control and requirements related to both sensor system of the leg and complete robot are assigned. The assessment of the force, coming from sensor system, by which the endpoint of the leg acts on the terrain is considerably important. The information about leg landing is necessary for robot control in non-regular terrain. If the landing sensor provides information about magnitude and orientation of landing force, the algorithm of obstacles avoidance could be efficiently implemented based partially on this information.
[klicova_slova_en] => mechatronics, walking robots, pantographic leg, control system, tactile sensors
[vysledek_datum] => 2003-05-12T00:00:00+02:00
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The behaviour obtained through three minimization methods realizing simultaneous activations of controllers was tested.
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[oecd_tree_oblast_id] => 20000
[oecd_tree_oblast_nazev] => 2. Engineering and Technology
[oecd_tree_obor_id] => 20200
[oecd_tree_obor_nazev] => 2.2 Electrical engineering, Electronic engineering, Information engineering
[oecd_tree_podobor_id] => 20204
[oecd_tree_podobor_nazev] => Robotics and automatic control
[poznamka_metriky] =>
[nazev_en] => Conception of walking robot's leg as mechatronic system
[popis_en] => The contribution is focused on design of multi-legged robot leg as an autonomous system. Leg is composed of the leg mechanism, 3 leg drives, sensor and control system. The paper deals with the influence of mechanical design and particular sensors positions on leg control.
[klicova_slova_en] => mechatronics, walking robots, pantographic leg , control system
[vysledek_datum] => 2002-05-13T00:00:00+02:00
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[quotations] => HOUŠKA, P., LOJEK, O., SINGULE, V., BŘEZINA, T.
[title] => STRUKTURA ÚROVNÍ MOBILNÍHO ROBOTU OMR III
[typ] => PV
[year] => 2000
[id_vav] => 3915
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[quotations] => BŘEZINA, T., EHRENBERGER, Z., KRATOCHVÍL, C.
[title] => Reinforcement learning model: control of nonlinear and unstable processes
[typ] => PV
[year] => 2001
[id_vav] => 6259
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[title] => Mobile Robots structural optimization. Engineering Mechanics 2001
[typ] => PV
[year] => 2001
[id_vav] => 6736
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[quotations] => CHLÁDEK, Z.
[title] => Simulation of Opened Kinematic Chains.
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[year] => 2001
[id_vav] => 6738
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[quotations] => HOUŠKA, P., LOJEK, O., BŘEZINA, T., SINGULE, V.
[title] => THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT - LEG LANDING SENSOR
[typ] => PV
[year] => 2001
[id_vav] => 6752
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[quotations] => HOUŠKA, P., BŘEZINA, T., SINGULE, V.
[title] => Control and synchronization drive unit of leg of walking robot
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[year] => 2003
[id_vav] => 7188
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[quotations] => HOUŠKA, P., EHRENBERGER, Z., BŘEZINA, T., SINGULE, V.
[title] => The Use of Leg Landing Information for Walking Robot Control
[typ] => PV
[year] => 2003
[id_vav] => 7624
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[quotations] => BŘEZINA, T., KREJSA, J.
[title] => THE CONTROL OF ACTIVE MAGNETIC BEARING USING TWO-PHASE Q-LEARNING
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[year] => 2003
[id_vav] => 7625
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[quotations] => BŘEZINA, T., HOUŠKA, P., SINGULE, V.
[title] => Walking Gait of Four-Legged Robot Obtained Throug Q Learning
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[year] => 2003
[id_vav] => 7626
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[quotations] => BŘEZINA, T., HOUŠKA, P., SINGULE, V.
[title] => Q-LEARNING APPLICATION ON FOUR-LEGGED ROBOT WALKING CONTROL
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[year] => 2003
[id_vav] => 7886
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[quotations] => BŘEZINA, T., KREJSA, J.
[title] => THE INFLUENCE OF REINFORCEMENT FUNCTION DEFINITION ON PROPERTIES OF Q-LEARNING BASED CONTROLLER FOR ACTIVE MAGNETIC BEARING
[typ] => PV
[year] => 2003
[id_vav] => 7887
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[quotations] => BŘEZINA, T., HOUŠKA, P., SINGULE, V.
[title] => THE LEG CONTROL OF WALKING ROBOT BY MINIMIZATION PROCESS
[typ] => PV
[year] => 2003
[id_vav] => 8151
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[12] => Array
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[quotations] => KRATOCHVÍL, C., SINGULE, V., BŘEZINA, T.
[title] => MECHATRONICS EDUCATION ON THE INSTUTE OF SOLIDS MECHANICS FACULTY OF MECHANICAL ENGINEERING (FME) BRNO UNIVERSITY OF TECHNOLOGY (BUT)
[typ] => PV
[year] => 2003
[id_vav] => 8538
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[quotations] => HOUŠKA, P.; BŘEZINA, T.; SINGULE, V.
[title] => Koncepce mechatronické soustavy nohy kráčivého robotu
[typ] => PV
[year] => 2002
[id_vav] => 9658
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