Authors:
Anca Petrişor
1
;
Nicu George Bîzdoacă
2
;
Adrian Drighiciu
1
;
Ilie Diaconu
2
;
Sonia Degeratu
1
;
Gabriela Canureci
2
and
Gabriela Petropol Serb
1
Affiliations:
1
Faculty of Electromechanical Engineering, University of Craiova, Romania
;
2
Faculty of Automation,Computers and Electronics, University of Craiova, Romania
Keyword(s):
Walking robot, mathematical model, control strategy, variable causality dynamic system, uncertain environment.
Related
Ontology
Subjects/Areas/Topics:
Informatics in Control, Automation and Robotics
;
Mobile Robots and Autonomous Systems
;
Modeling, Simulation and Architectures
;
Robotics and Automation
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.