Papers Submitted to WSEAS Conferences and WSEAS Journals: Wseas Transactions

Sunday 18 January 2009

Wseas Transactions

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The following information was submitted:

Transactions: WSEAS TRANSACTIONS ON SYSTEMS
Transactions ID Number: 28-779
Full Name: Anca Petrisor
Position: Professor
Age: ON
Sex: Female
Address: 107 Decebal Bv, 200440-Craiova, Dolj
Country: ROMANIA
Tel:
Tel prefix:
Fax:
E-mail address: apetrisor@em.ucv.ro
Other E-mails: apetrisor06@gmail.com
Title of the Paper: Implementation of the Stable States Transition Control Algorithm for a Four Free Joints Walking Robot
Authors as they appear in the Paper: Anca Petrisor, Nicu George Bizdoaca, Adrian Drighiciu, Sonia Degeratu, Gabriela Petropol Serb, Raducu Petrisor
Email addresses of all the authors: apetrisor@em.ucv.ro, nicu@robotics.ucv.ro, adrighiciu@em.ucv.ro, sdegeratu@em.ucv.ro, gpetropol@em.ucv.ro, raducu.petrisor@elprest.ro
Number of paper pages: 10
Abstract: The paper presents a systemic approach of a walking robot behavior and control in uncertain environments, with application to a hexapod robot. For simplicity, this paper considers only the vertical xz-plane evolution taking into account that the structure is symmetrical in the horizontal xy-plane and the results can be easily extended. Based on the mathematical model of the robot, determined considering all the points in the xz-plane as being complex numbers, a new concept of walking called SSTA, "Stable States Transition Approach", is proposed. Applications of this algorithm for a walking robot with four free joints are implemented on a user-friendly simulation and educational platform and also a control system development environment for control of walking robots systems - RoPa. All the examples demonstrate the efficacy of the proposed control algorithm.
Keywords: walking robot, mathematical model, control algorithm, variable causality dynamic system, stable states, free joints
EXTENSION of the file: .pdf
Special (Invited) Session: Modeling and Simulation of Walking and Climbing Robots based on Stable States Transition Approach as Control Strategy
Organizer of the Session: 591-312
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