Abstract
The authors present the first results of their scientific work related to design and development of the walking robot control systems in virtual reality. Six-legged walking robot was created along with its virtual counterpart simulated in virtual environment. A control system was created and tested on virtual model. This control system was then directly used to control real robotic construction. Differences between real and virtual robot behavior were analyzed.
Highlights
Autonomous mobile robots have become more and more important during last years
We present the results of our development of a six legged walking robot, along with its virtual counterpart
The response of the real robot was very similar to the response previously observed in virtual reality
Summary
Autonomous mobile robots have become more and more important during last years. First one is based on precise joint angle control This approach is based on direct control of every DOF of the robot. The second is based on passive dynamics of the robot construction. 38 ● KOMUNIKÁCIE / COMMUNICATIONS 1 / 2 0 0 7 part of the walk control problem is solved by robot construction. A precise joint control approach was used to control our robot. Simulation is being used to speed up the development of the robot construction and to optimize its control system. The evolution of computing hardware has enabled more p1recise simulation of complicated robotic construction during last few years. Where T is actual time of simulation, c0 is position and v0 speed of the segment at the moment of a simulation start
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