Matches in SemOpenAlex for { <https://semopenalex.org/work/W2208061838> ?p ?o ?g. }
Showing items 1 to 81 of
81
with 100 items per page.
- W2208061838 endingPage "20" @default.
- W2208061838 startingPage "19" @default.
- W2208061838 abstract "The paper presents new concepts and approaches of applied mathematics in modeling and hybrid position-force control for walking modular robots, with developing an open architecture real time control multiprocessor system, in view of obtaining new capabilities for walking robots. A strategy is developed for the dynamic control of the movement of walking robots using the Zero Moment Point method by processing inertial information of force, torque and tilting and by implementing intelligent high level algorithms. The control diagram allows through modeling the generation of compliant walking, real time ZMP compensation in a single phase - the support phase, the leg joint damping control, a stable walking control and controlling the walking position base on the angular velocity of platform. For the modeling of some of the movements of the walking robot, the equation of a simple inverted pendulum was adopted, with a joint in the single support phase, which opposes the dampening forces of the leg joints. For other movements new control strategies were conceived through sequential analyses and local modeling of the movement parameters. The complexity of the movement mechanism of a walking robot was taken into account, being a repetitive tilting process with numerous instable movements and which can lead to its turnover on rough terrain. The control system architecture for the dynamic robot walking is presented in correlation with the control strategy which contains three main real time control loops: balance robot control using sensorial feedback, walking diagram control with periodic changes depending on the sensorial information during each walk cycle, predictable movement control based on a quick decision from the previous experimental data. The results obtained through simulation and experiments show an increase in mobility, stability in real conditions and obtaining of high performances related to the possibility of moving walking robots on terrains with a configuration as close as possible to real situations, respectively developing new technological capabilities of the walking modular robot control systems for slope movement and walking by overtaking or going around obstacles." @default.
- W2208061838 created "2016-06-24" @default.
- W2208061838 creator A5032877776 @default.
- W2208061838 date "2010-01-27" @default.
- W2208061838 modified "2023-09-26" @default.
- W2208061838 title "Plenary lecture 3: modeling and hybrid position-force control of walking modular robots" @default.
- W2208061838 hasPublicationYear "2010" @default.
- W2208061838 type Work @default.
- W2208061838 sameAs 2208061838 @default.
- W2208061838 citedByCount "0" @default.
- W2208061838 crossrefType "journal-article" @default.
- W2208061838 hasAuthorship W2208061838A5032877776 @default.
- W2208061838 hasConcept C101468663 @default.
- W2208061838 hasConcept C111919701 @default.
- W2208061838 hasConcept C119599485 @default.
- W2208061838 hasConcept C121332964 @default.
- W2208061838 hasConcept C127413603 @default.
- W2208061838 hasConcept C133731056 @default.
- W2208061838 hasConcept C144171764 @default.
- W2208061838 hasConcept C154945302 @default.
- W2208061838 hasConcept C158622935 @default.
- W2208061838 hasConcept C17500928 @default.
- W2208061838 hasConcept C192921069 @default.
- W2208061838 hasConcept C19966478 @default.
- W2208061838 hasConcept C2775924081 @default.
- W2208061838 hasConcept C41008148 @default.
- W2208061838 hasConcept C44154836 @default.
- W2208061838 hasConcept C47446073 @default.
- W2208061838 hasConcept C62520636 @default.
- W2208061838 hasConcept C65401140 @default.
- W2208061838 hasConcept C90509273 @default.
- W2208061838 hasConcept C97355855 @default.
- W2208061838 hasConceptScore W2208061838C101468663 @default.
- W2208061838 hasConceptScore W2208061838C111919701 @default.
- W2208061838 hasConceptScore W2208061838C119599485 @default.
- W2208061838 hasConceptScore W2208061838C121332964 @default.
- W2208061838 hasConceptScore W2208061838C127413603 @default.
- W2208061838 hasConceptScore W2208061838C133731056 @default.
- W2208061838 hasConceptScore W2208061838C144171764 @default.
- W2208061838 hasConceptScore W2208061838C154945302 @default.
- W2208061838 hasConceptScore W2208061838C158622935 @default.
- W2208061838 hasConceptScore W2208061838C17500928 @default.
- W2208061838 hasConceptScore W2208061838C192921069 @default.
- W2208061838 hasConceptScore W2208061838C19966478 @default.
- W2208061838 hasConceptScore W2208061838C2775924081 @default.
- W2208061838 hasConceptScore W2208061838C41008148 @default.
- W2208061838 hasConceptScore W2208061838C44154836 @default.
- W2208061838 hasConceptScore W2208061838C47446073 @default.
- W2208061838 hasConceptScore W2208061838C62520636 @default.
- W2208061838 hasConceptScore W2208061838C65401140 @default.
- W2208061838 hasConceptScore W2208061838C90509273 @default.
- W2208061838 hasConceptScore W2208061838C97355855 @default.
- W2208061838 hasLocation W22080618381 @default.
- W2208061838 hasOpenAccess W2208061838 @default.
- W2208061838 hasPrimaryLocation W22080618381 @default.
- W2208061838 hasRelatedWork W117498364 @default.
- W2208061838 hasRelatedWork W136706852 @default.
- W2208061838 hasRelatedWork W153656127 @default.
- W2208061838 hasRelatedWork W1569978430 @default.
- W2208061838 hasRelatedWork W1829015105 @default.
- W2208061838 hasRelatedWork W2041517415 @default.
- W2208061838 hasRelatedWork W2055422750 @default.
- W2208061838 hasRelatedWork W2067051609 @default.
- W2208061838 hasRelatedWork W2078908663 @default.
- W2208061838 hasRelatedWork W2155914874 @default.
- W2208061838 hasRelatedWork W2255444587 @default.
- W2208061838 hasRelatedWork W2385459523 @default.
- W2208061838 hasRelatedWork W2544819098 @default.
- W2208061838 hasRelatedWork W2600951200 @default.
- W2208061838 hasRelatedWork W2752712603 @default.
- W2208061838 hasRelatedWork W2912609428 @default.
- W2208061838 hasRelatedWork W3102190981 @default.
- W2208061838 hasRelatedWork W4265956 @default.
- W2208061838 hasRelatedWork W74324772 @default.
- W2208061838 hasRelatedWork W824478119 @default.
- W2208061838 isParatext "false" @default.
- W2208061838 isRetracted "false" @default.
- W2208061838 magId "2208061838" @default.
- W2208061838 workType "article" @default.