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Design of small laboratory quadruped robot
Švehlák, M. ; Grepl, Robert ; Věchet, S. ; Bezdíček, M. ; Chmelíček, J.
In the article is a sum dectripcion of the design of a small quadrupedal walking robot. The aim of the work is to make a physical model for authenticating computational simulation and other problems related with walking robots. The physical model should be noted for simple design, unpretentious production and relatively small financial coast. The physical model is qualified enough to make various experiments. The actuators are concepted in reference to the character of the loading moment.
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Aproximace modelu stability kráčivého robotu
Krejsa, Jiří ; Grepl, Robert ; Věchet, S.
The paper compares global and local approximation methods used for walking robot stability model. Global approximators are represented by feedforward multilayer neural network (FFNN) trained by gradient method; local approximators are represented by Locally Weighted Regression (LWR) and Receptive Field Weighted Regression (RFWR) methods.
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Use of comlex dynamic models in design and control of walking robots
Grepl, Robert ; Ondrůšek, Č. ; Kratochvíl, Ctirad
The paper describes the design of complex dynamic model of quadrupedwalking mobil robot. Method of building of thenumerical computational model and its simulating is shown. Complex model consist ofsubmodels of robotic mechanism, DC motor, gearbox model and thermal model ofelectrical motor. In the paper is also discussed application of computational model directly for control ofrobot and also as a data generator for global and local approximation method,mainly artificial neural networks. Control algorithm is also considered in model.
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Control of experimental valking robot using simulating model
Grepl, Robert ; Věchet, S. ; Bezdíček, M. ; Švehlák, M. ; Chmelíček, J.
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.
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Dynamický model pro řízení stability kráčejícího robotu
Grepl, Robert
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.
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