Engineering Mechanics

Proceedings Vol. 10 (2004)

ENGINEERING MECHANICS 2004

NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 10 – 13, 2004, Svratka, Czech Republic

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Editors: Igor Zolotarev and Alena Poživilová

ISBN 80-85918-88-9 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Control of experimental walking robot using simulating model

Grepl R., Věchet S., Bezdíček M., Švehlák M., Chmelíček J.
pages 101 - +8p., full text

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.

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Engineering Mechanics

International Conference

Proceedings Vol. 10 (2004)

ENGINEERING MECHANICS 2004