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ON THE DESIGN AND MODELING OF A TRAINER FOR THE UNDERACTUATED WALKING ROBOT WITHOUT ANKLES
- 1.0566404 - ÚTIA 2023 RIV NL eng C - Conference Paper (international conference)
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]
R&D Projects: GA ČR(CZ) GA21-03689S
Institutional support: RVO:67985556
Keywords : Mechatronics * Walking robot * Multibody dynamics * Computer simulations * Control applications
OECD category: 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.
Permanent Link: https://hdl.handle.net/11104/0337761
Number of the records: 1