Simloid - Evolution of Biped Walking Using Physical Simulation - Daniel Hein
Simloid - Evolution of Biped Walking Using Physical Simulation - Daniel Hein
EAN: 9783639053302
Symbol
608FBF03527KS
Autorzy
Daniel Hein
Rok wydania
2008
Elementy
112
Oprawa
Miekka
Format
15.2x22.9cm
Język
angielski

Bez ryzyka
14 dni na łatwy zwrot

Szeroki asortyment
ponad milion pozycji

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Ocena: /5
Symbol
608FBF03527KS
Kod producenta
9783639053302
Autorzy
Daniel Hein
Rok wydania
2008
Elementy
112
Oprawa
Miekka
Format
15.2x22.9cm
Język
angielski

Controlling a biped robot with a high degree of freedom to achieve stable movement patterns is still an open and complex problem. Thus, the development of control mechanisms for biped walking have become an important field of research. With growing calculation power of computer hardware, high resolution realtime simulation of such robot models in effect becomes all the more applicable.
This thesis presents a physical simulation of a 19 degrees of freedom real biped robot model and demonstrates its application for exploring biped motion control techniques. It introduces two different approaches of biped motion generation, which specify target angle functions for all driven joints. Both approaches were developed and implemented within the physical simulation of the biped robot. Whilst the motion parameters were identified and optimized using evolutionary algorithms, several walking patterns could be generated, allowing the simulated robot for covering finally more than 10m within 25s.
EAN: 9783639053302
EAN: 9783639053302
Niepotwierdzona zakupem
Ocena: /5
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