Detail publikace

The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space

ONDROUŠEK, V. BŘEZINA, T.

Český název

The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space

Anglický název

The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space

Typ

Stať ve sborníku v databázi WoS či Scopus

Jazyk

cs

Originální abstrakt

Both the automatic policies generation and its analysis for four legged walking robot is given in this contribution. Policies generation is based on state space search which is represented by a tree. The set of elementary production rules is used for tree generation, chosen with respect to obtain suitable tree complexity and algorithm response. Further the selection of tasks operators are discussed. Those operators represent the performance of basic movements of walking robot. Policy generation is made through the A* algorithm. The policies are continuously generated as short-time plans of robot movements.

Anglický abstrakt

Both the automatic policies generation and its analysis for four legged walking robot is given in this contribution. Policies generation is based on state space search which is represented by a tree. The set of elementary production rules is used for tree generation, chosen with respect to obtain suitable tree complexity and algorithm response. Further the selection of tasks operators are discussed. Those operators represent the performance of basic movements of walking robot. Policy generation is made through the A* algorithm. The policies are continuously generated as short-time plans of robot movements.

Klíčová slova anglicky

walking gait, four-legged robot, A-star

Vydáno

2006-05-15

Místo

Praha

ISBN

80-86246-27-2

Kniha

Engeneering Mechanics 2006

Strany od–do

272–273

Počet stran

2

BIBTEX


@inproceedings{BUT20034,
  author="Vít {Ondroušek} and Tomáš {Březina}",
  title="The Automatic Generation of Walking Policies for a Four-Legged Robot in a Nondeterministic Space",
  booktitle="Engeneering Mechanics 2006",
  year="2006",
  number="1",
  pages="272--273",
  address="Praha",
  isbn="80-86246-27-2"
}