Using virtual reality to develop six legged walking robot control system

• Autorzy: Michulek T
• Języki publikacji: EN

Abstrakty

EN

This contribution presents the first results of our work related to design and development of a six legged walking robot. Real prototype was created along with its virtual counterpart that is simulated in virtual environment. A control system was created and tested on virtual model. This control system was then directly used to control real robotic construction.

Słowa kluczowe

EN

robotics; virtual reality; visualization; simulation; walking robot

• Wydawca: Polskie Towarzystwo Promocji Wiedzy ; Lublin University of Technology
• Czasopismo: Applied Computer Science
• Rocznik: 2007
• Tom: Vol. 3, no 2
• Strony: 43--53
• Opis fizyczny: Bibliogr. 12 poz., fig.

Twórcy

autor

Michulek T

• UKaI, University of Žilina

Bibliografia

• [1] LIPSON H., BONGARD J., ZYKOV V., MALONE E. : Evolutionary Robotics for Legged Machines: From Simulation to Physical Reality, Computational Synthesis Lab Cornell University, Ithaca NY 14853, USA
• [2] DE LASA M. and BUEHLER M.: Dynamic Compliant Walking of a Quadruped Robot:Preliminary Experiments, Dept. of Electrical Engineering & Dept. of Mechanical Engineering,Center for Intelligent Machines, McGill University Montreal, Canada
• [3] HOPLER R., STELCER M. and VON STRYK O.: Object-oriented dynamics modeling for simulation, optimization and control of walking robots. In Proc. 18th Symposium on Simulation Technique, ASIM, Erlangen, September 12-15, 2005
• [4] BUSCH J., ZIEGLER J., AUE C., ROSS A., SAWITZKY D., BANZHAF W.:Automatic Generation of Control Programs for Walking Robots Using Genetic Programming, University of Dortmund, Department of Computer Science, Chair of Systems Analysis (LSXI) Dortmund, Germany
• [5] BILLARD A., J. IJSPEERT A. Biologically inspired neural controllers for motor control in a quadruped robot. Robotics Laboratory, University of Southern California, U.S.A
• [6] HAAVISTO O. , HYOTYNIEMI H.: Simulation tool of a biped walking robot model Helsinki University of Technology Control Engineering Laboratory, Finland In Espoo 2004 Report 138
• [7] PORTA J.M., CELAYA E.: Body and leg coordination for omnidirectional walking in rough terrain, Institut de Robotika i Informatica Industrial (UPC-CSIC), Barcelona, Spain
• [8] MICHEL O: WebotsTM: Professional Mobile Robot Simulation Swiss Federal Institute of Technology in Lausanne, BIRG & SWIS research groups,
• [9] HALME A., EPPANEN I., SALMI S., YLONEN S. , Hybrid locomotion of a wheellegged machine, Automation Technology Laboratory Helsinki University of Technology, Finland
• [10] AARNIO P., KOSKINEN K., SALMI S., Simulation of the Hybtor Robot, Information and Computer Systems in Automation, Helsinki University of Technology, Finland
• [11] D. A. KINGSLEY, R. D. QUINN, R. E. RITZMANN: A Cockroach Inspired Robot With Artificial Muscles, Case Western Reserve University Cleveland Ohio, USA,
• [12] CANDANA P. and Bongard J. C.: The Road Less Travelled: Morphology in the Optimization of Biped Robot Locomotion , Artificial Intelligence Laboratory, University of Zurich, Switzerland