Original title: Řízení experimentálního robotu s využitím simulačního modelu
Translated title: Control of experimental valking robot using simulating model
Authors: Grepl, Robert ; Věchet, S. ; Bezdíček, M. ; Švehlák, M. ; Chmelíček, J.
Document type: Papers
Conference/Event: National conference with international participation : Engineering mechanics 2004, Svratka (CZ), 2004-05-10 / 2004-05-13
Year: 2004
Language: cze
Abstract: [cze] [eng]
Konstrukce a řízení kráčejících robotů představuje globálně velmi zajímavý zdroj vědeckých problémů. 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: simmechanics; walking robot
Project no.: CEZ:AV0Z2076919 (CEP)
Host item entry: Engineering mechanics 2004, ISBN 80-85918-88-9

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/11104/0010885

Permalink: http://www.nusl.cz/ntk/nusl-19596


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers