This diploma thesis deals with design and implementation of the controllers of a mobile walking robot. The advantage of these controllers are their kinematics and geometrics independent representation, which allow to use them for different robot types and tasks. In this thesis the contact controller is designed, which minimizes residual forces and torques at the robot's center of gravity, and thereby stabilize robot's body. Next the thesis deals with a posture controller, which maximizes a heuristic posture measure to optimize posture of robot body. Because of this optimization, legs are moved away from their limits and therefore they have more working space for next move. Implementation of the chosen solution is made on the robot's MATLAB mathematical model. Controllers are composed into a control basis, that allows to solve general control tasks by simultaneous combination of contained controllers. The algorithm was created for that simultaneous activation and its operation was explained on flow charts.
| Identifer | oai:union.ndltd.org:nusl.cz/oai:invenio.nusl.cz:230071 |
| Date | January 2012 |
| Creators | Krajíček, Lukáš |
| Contributors | Věchet, Stanislav, Ondroušek, Vít |
| Publisher | Vysoké učení technické v Brně. Fakulta strojního inženýrství |
| Source Sets | Czech ETDs |
| Language | Czech |
| Detected Language | English |
| Type | info:eu-repo/semantics/masterThesis |
| Rights | info:eu-repo/semantics/restrictedAccess |
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