0444653 20240111140903.620150609235959.9 84957665122 000388123000382 10.1109/ASCC.2015.7244755 Simple model of underactuated walking robot 6 s. C cav_un_epca*0444652978-1-4799-7862-5Proceedings of the 10th Asian Control Conference (ASCC 2015). ISBN 978-1-4799-7862-5Emerging Control Technique for a Sustainable WorldKota Kinabalu, Sabah, MalajsieIEEE2015 Underactuated walking Experimental model Mechanical systems cav_un_auth*0252057 Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Anderle Milan UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0101074 Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Čelikovský Sergej UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. cav_un_auth*0279330 Teorie řízení Department of Control Theory TŘ TR Department of Control Theory Dolinský Kamil UTIA-B Ústav teorie informace a automatizace AV ČR, v. v. i. textový dokument 1,54 MB cav_un_auth*0292613 GA13-20433S GA ČR The paper deals with an initial design of a simple mechanical model of an underactuated walking robot. The mechanical model was built in order to verify already developed control algorithms for underactuated walking robots. Indeed, in simulations, these algorithms can guarantee that the model will produce a motion resembling human walking. Nevertheless, they were not verified in an application of a real underactuated walking robot control. The presented simple mechanical model consists of two mechanical legs connected in a hip via actuators. Each leg is composed of two links equipped with an actuator in order to bend or straighten the leg. Printed circuit boards (PCB) were designed and mounted on each link in order to control the attached actuator and measure states of the corresponding link. Each PCB is equipped with a microprocessor, a CPLD, a full bridge driver, a gyroscope sensor, A/D converters and a CAN bus driver. cav_un_auth*0317349 The 10th Asian Control Conference (ASCC 2015) 31.05.2015-03.06.2015 Sutera Harbour Resort, Kota Kinabalu, Sabah MY BC 2016 3 PR RVO:67985556 http://hdl.handle.net/11104/0247173 1 S 2015 84957665122 SCOPUS 000388123000382 WOS textový dokument 1,54 MB cav_un_epca*0444652 Proceedings of the 10th Asian Control Conference (ASCC 2015). ISBN 978-1-4799-7862-5 Emerging Control Technique for a Sustainable World 978-1-4799-7862-5 Kota Kinabalu, Sabah, Malajsie IEEE 2015