Critical position using environment model applied on walking robots
Authors: Migdalovici, M., Vladareanu, L., Pop, N., Yu, H., Iliescu, M., Vladareanu, V., Baran, D. and Vladeanu, G.
Pages: 165-177
ISBN: 9781119509851
DOI: 10.1002/9781119509875.ch13
Abstract:The chapter presents the walking robots evolution models in correlation with modeling of the environment in order to integration into the concept of virtual reality by applying the virtual projection method. The environment’s mathematical model is defined through the models of kinematics or dynamic systems for the general case of systems that depend on parameters. In the first part of the chapter, some mathematical conditions that imply the separation of stable regions from the free parameters domain of the system are formulated. The property of separation between stable and unstable regions from the free parameters domain of the system is deeply approached, being an important property of the dynamic system evolution model that approaches the phenomenon from the environment. In the second part an innovative method is developed on walking robot kinematics and dynamic models with aspects exemplified on walking robot leg. The results lead to an inverse method for identification of possible critical positions of the walking robot leg, applied in the robot control in the virtual reality environment by the virtual projection method.
Source: Scopus