000003251 001__ 3251
000003251 005__ 20141118153406.0
000003251 04107 $$acze
000003251 046__ $$k2005-05-09
000003251 100__ $$aBřezina, T.
000003251 24500 $$aDesign of coordination mechanism of walking robot gait controllers

000003251 24630 $$n11.$$pENGINEERING MECHANICS 2005
000003251 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Brno
000003251 506__ $$arestricted
000003251 520__ $$2eng$$aThe contribution deals with the arrangement of coordination mechanism of gait controllers of four legged robot. Robot system is modeled as discrete events dynamic system (DEDS). Formation of control strategies is based on controller set whose instances are able to create independent robot behaviors. Based on formal logic methods initial set of controllers is extended by composite controllers. Their determination is always the parallel achievement of several control aims. Coordination mechanism of feedback controllers is then organized as finite nondeterministic state machine. Activation of all control laws in every state of system is underlying idea. Appropriate complexity of problem is reached through implementation of security limitations as well as limitations which imply from solved problems domain. Using the limited set of input information a suitable problem algorithmization is possible to obtain full automated arrangement of coordination mechanism.

000003251 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000003251 653__ $$a

000003251 7112_ $$aENGINEERING MECHANICS 2005$$cSvratka (CZ)$$d2005-05-09 / 2005-05-12$$gEM2005
000003251 720__ $$aBřezina, T.$$iOndroušek, V.
000003251 8560_ $$ffischerc@itam.cas.cz
000003251 8564_ $$s286233$$uhttp://invenio.itam.cas.cz/record/3251/files/Brezina2-PT.pdf$$y
             Original version of the author's contribution as presented on CD, .
            
000003251 962__ $$r3238
000003251 980__ $$aPAPER