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Start Over Creator Grepl, Robert

1. Exact linearization of nonholonomic system dynamics applied to control of differentially driven soccer robot

Creator:
Grepl, Robert, Lee, Byoungsoo, Kratochvíl, Ctirad, Šolc, František, and Hrabec, Jakub
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
nonholonomic system dynamics, exact linearization, and soccer robot
Language:
English
Description:
This paper describes the dynamic modeling of nonholonomic system for control purposes. The equations of motion together with nonholonomic constraint are reduced into system of five 1st order equations. Further, the exact linearization is performed and finally we obtain a decoupled system of two independent integrator chains. Next we describe the controller design, and at the end, the simualtion results are presented. and Obsahuje seznam literatury
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public

2. Simulating modelling of quadruped robot gait control

Creator:
Grepl, Robert
Format:
bez média and svazek
Type:
model:article and TEXT
Subject:
walking robot, control algorithm, simulating modelling, and fourlegged robot
Language:
English
Description:
This paper presents the concept of computer simulating model for robot-environment behaviour study and control. The modelling is aimed to particullar physical implementation of fourlegged robot. The schema of simulating model includes four main sub-models: environment-robot interaction, sensory data processing, robot action planning and action executing. Forward and inverse kinematics of robot is also mentioned. Described model was used for the development and testing of control gait algorithm for irregular terain. Further, arbitrary other action planning algorithm can be engaged in the model. and Obsahuje seznam literatury
Rights:
http://creativecommons.org/licenses/by-nc-sa/4.0/ and policy:public