Control of experimental walking robot using simulating model
Abstract eng: 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 models 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.
Contributors:
Publisher:
Institute of Thermomechanics AS CR, v.v.i., Prague
Conference Title:
Conference Title:
Engineering Mechanics 2004
Conference Venue:
Svratka (CZ)
Conference Dates:
2004-05-10 / 2004-05-13
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-14, last modified 2014-11-18
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