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Systematic and complete enumeration of statically stable multipod gaits

Roth Jörg

Journal of Automation Mobile Robotics and Intelligent Systems

2018

Vol. 12, No. 4

42--50

Insect-like robots have many advantages concerning mobility and stability. The specific sequence of legs going through different phases, the gait, is important when planning and executing a complex motion. The notion of gaits was originally introduced by biologists but gaits also influenced robot development. Typical multipod robots are able to execute much more gaits than occur in wildlife. In this paper we present a formalism to express certain rules for reasonable gaits. We show an algorithm that enumerates all statically stable gaits according to our formalism. We then provide a gait classification by the example of six-legged robots. Finally, we introduce properties to evaluate gaits.

Synthesis and Optimization of Neural Network Parameters for Control of Non-linear Objects

Aleksander M., Pohrebennyk V., Strembitskyy M.

Przegląd Elektrotechniczny

2014

R. 90, nr 5

207--210

The possibility of using artificial neural network (ANN) for the construction of precise control of dynamic objects with variable parameters is considered. Approach to the synthesis of topology and learning algorithm based on recurrent Elman’s ANN with auxiliary feedback is suggested. The results of modeling of ANN operation in the system of control guided by large-sized antennas are given.

Opisano możliwość wykorzystania sztucznej sieci neuronowej (SSN) do precyzyjnego sterowania dynamicznych obiektów o zmiennych parametrach. Przedstawiono syntezę topologii i uczenia algorytmu opartego na SSN Elmana z dodatkowych informacji. Zaprezentowano wyniki modelowania SSN do zarządzania systemem pozycjonowania dużych anten.