Original title: Dynamic model for stability control of walking robot
Translated title: Dynamický model pro řízení stability kráčejícího robotu
Authors: Grepl, Robert
Document type: Papers
Conference/Event: Dynamika strojů 2004, Praha (CZ), 2004-02-10
Year: 2004
Language: eng
Abstract: [eng] [cze]
This paper deals with the building and utilization of numerical dynamic modelof stability. The design of model and its solution is accomplished inMatlab/Simulink/SimMechanics environment. The model is designed for particularquadruped walking robot. The structure of the model is described in the text. Two examples of model application are shown at the end of the paper. Model can be used directlyin SimMechanics for various analysis on PC or can be employed as a generator oftraining data for approximator. Článek se zabývá návrhem dynamického modelu pro zajištění stability robotu. Model je sestaven v prostředí Matlab-SimMechanics. Model je sestaven pro konkrétní čtyřnohý kráčející robot a může být použit přímo pro řízení nebo jako generátor dat pro aproximátor.
Keywords: dynamic model; guadruped; simmechanics
Project no.: CEZ:AV0Z2076919 (CEP)
Host item entry: Dynamika strojů 2004, ISBN 80-85918-85-4

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0010883

Permalink: http://www.nusl.cz/ntk/nusl-19594


The record appears in these collections:
Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers