| |
| |
|
Modelování dvounohého robotu: Kinematické numerické modely
Grepl, Robert
Modelling of kinematics is one of the basic task related to walking machines. In this paper, we present the buildingof numerical computational forward and inverse kinematic models of bipedal robotic leg. Models are implementedin Matlab/Simulink/SimMechanics environment. All computations are numerical only, so no analytical model isformed. Advantages and disadvantages of such approach are discussed. The role of this way of modelling in wholedesign and development process is also mentioned.
|
|
Plánování cesty pro čtyřnohého kráčejícího robota použitím rychlých náhodných stromů
Krejsa, Jiří ; Věchet, S.
Summary: There are several randomized methods for problem of path planning. Rapidly exploring random trees (RRT) is a method which can deal with constraints typical for legged walking robots, e.g. limitations in rotation step resolution. Paper describes the RRT method itself and its use for path planning of four-legged walking robot, including special failure case when robot is capable of only rotating in one direction. The method proved to be robust and fast.
|
|
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.
|
| |
| |
|
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.
|
|
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.
|
|
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.
|