ON THE DESIGN AND MODELING OF A TRAINER FOR THE UNDERACTUATED WALKING ROBOT WITHOUT ANKLES

0566404 - ÚTIA 2023 RIV NL eng C - Konferenční příspěvek (zahraniční konf.)
Polach, P. - Anderle, Milan - Papáček, Štěpán
ON THE DESIGN AND MODELING OF A TRAINER FOR THE UNDERACTUATED WALKING ROBOT WITHOUT ANKLES.
Proceedings of 27/28th INTERNATIONAL CONFERENCE (2022). Amsterdam: Elsevier, 2022, s. 309-312, č. článku 40. ISSN 1802-1484.
[The International Conferences ENGINEERING MECHANICS 2022 /27.+28/. Milovy (CZ), 09.05.2022-12.05.2022]
Grant CEP: GA ČR(CZ) GA21-03689S
Institucionální podpora: RVO:67985556
Klíčová slova: Mechatronics * Walking robot * Multibody dynamics * Computer simulations * Control applications
Obor OECD: Robotics and automatic control
http://library.utia.cas.cz/separaty/2023/TR/anderle-0566404.pdf

The purpose of this paper is to present a preliminary design and kinematic analysis of a simple mechanical device, called the trainer. This experimental device is designed for future use in a mechatronic system being the five-link laboratory walking-like system. The experiments on the trainer planned for the near future, aim to validate the recently developed controller implementation in the real underactuated walking robot model. Yet, the preliminary results demonstrate the suitability of the proposed trainer device.
Trvalý link: https://hdl.handle.net/11104/0337761