STABLE STATES TRANSITION APPROACH - A New Strategy for Walking Robots Control in Uncertain Environments

Anca Petrişor, Nicu George Bîzdoacă, Adrian Drighiciu, Ilie Diaconu, Sonia Degeratu, Gabriela Canureci, Gabriela Petropol Serb

Abstract

A new strategy for walking robots control in uncertain environments, called Stable States Transition Approach (SSTA), is proposed in this paper. All the controls, both the steps succession and the evolution inside each step are established by the evolution environment and by the objective proposed during the evolution. There are no predetermined types of legs movements; they are on-line determined during the robot evolution, irrespective of the ground shape. To apply this strategy it was necessary the robot interpretation as a Variable Causality Dynamic Systems (VCDS). Experimental results are implemented and verified in RoPa, a platform for simulation and design of walking robot control algorithms, to demonstrate the efficacy of the proposed control method.

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Paper Citation


in Harvard Style

Petrişor A., George Bîzdoacă N., Drighiciu A., Diaconu I., Degeratu S., Canureci G. and Petropol Serb G. (2008). STABLE STATES TRANSITION APPROACH - A New Strategy for Walking Robots Control in Uncertain Environments . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-8111-31-9, pages 202-207. DOI: 10.5220/0001490302020207


in Bibtex Style

@conference{icinco08,
author={Anca Petrişor and Nicu George Bîzdoacă and Adrian Drighiciu and Ilie Diaconu and Sonia Degeratu and Gabriela Canureci and Gabriela Petropol Serb},
title={STABLE STATES TRANSITION APPROACH - A New Strategy for Walking Robots Control in Uncertain Environments},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2008},
pages={202-207},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001490302020207},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - STABLE STATES TRANSITION APPROACH - A New Strategy for Walking Robots Control in Uncertain Environments
SN - 978-989-8111-31-9
AU - Petrişor A.
AU - George Bîzdoacă N.
AU - Drighiciu A.
AU - Diaconu I.
AU - Degeratu S.
AU - Canureci G.
AU - Petropol Serb G.
PY - 2008
SP - 202
EP - 207
DO - 10.5220/0001490302020207