Displaying similar documents to “Supporting locomotive functions of a six-legged walking robot”

A biologically inspired approach to feasible gait learning for a hexapod robot

Dominik Belter, Piotr Skrzypczyński (2010)

International Journal of Applied Mathematics and Computer Science

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The objective of this paper is to develop feasible gait patterns that could be used to control a real hexapod walking robot. These gaits should enable the fastest movement that is possible with the given robot's mechanics and drives on a flat terrain. Biological inspirations are commonly used in the design of walking robots and their control algorithms. However, legged robots differ significantly from their biological counterparts. Hence we believe that gait patterns should be learned...

Visual simultaneous localisation and map-building supported by structured landmarks

Robert Bączyk, Andrzej Kasiński (2010)

International Journal of Applied Mathematics and Computer Science

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Visual simultaneous localisation and map-building systems which take advantage of some landmarks other than point-wise environment features are not frequently reported. In the following paper the method of using the operational map of robot surrounding, which is complemented with visible structured passive landmarks, is described. These landmarks are used to improve self-localisation accuracy of the robot camera and to reduce the size of the Kalman-filter state-vector with respect to...

Uncertainty models of vision sensors in mobile robot positioning

Piotr Skrzypczyński (2005)

International Journal of Applied Mathematics and Computer Science

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This paper discusses how uncertainty models of vision-based positioning sensors can be used to support the planning and optimization of positioning actions for mobile robots. Two sensor types are considered: a global vision with overhead cameras, and an on-board camera observing artificial landmarks. The developed sensor models are applied to optimize robot positioning actions in a distributed system of mobile robots and monitoring sensors, and to plan the sequence of actions for a robot...

A learning paradigm for motion control of mobile manipulators

Foudil Abdessemed, Eric Monacelli, Khier Benmahammed (2006)

International Journal of Applied Mathematics and Computer Science

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Motion control of a mobile manipulator is discussed. The objective is to allow the end-effector to track a given trajectory in a fixed world frame. The motion of the platform and that of the manipulator are coordinated by a neural network which is a kind of graph designed from the kinematic model of the system. A learning paradigm is used to produce the required reference variables for each of the mobile platform and the robot manipulator for an overall coordinate behavior. Simulation...

Simultaneous Localization And Mapping: A feature-based probabilistic approach

Piotr Skrzypczyński (2009)

International Journal of Applied Mathematics and Computer Science

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This article provides an introduction to Simultaneous Localization And Mapping (SLAM), with the focus on probabilistic SLAM utilizing a feature-based description of the environment. A probabilistic formulation of the SLAM problem is introduced, and a solution based on the Extended Kalman Filter (EKF-SLAM) is shown. Important issues of convergence, consistency, observability, data association and scaling in EKF-SLAM are discussed from both theoretical and practical points of view. Major...