Influence and dynamics of a mobile robot control on mechanical components

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Title:	Influence and dynamics of a mobile robot control on mechanical components
Authors:	Chung, Pei-Yin Chen, Ying-Hsiu Walter, Liui Chen, C Y
Keywords:	Dynamic programming fuzzy Lyapunov Hermite interpolation mobile robots motion planning time-optimal motion
Date:	2012
Issue Date:	2012-10-02T03:55:39Z (UTC)
Abstract:	The application range of a mobile robot is very wide, and includes cleaning, carrying, guiding, manufacturing, remote exploration, artificial intelligence, entertainment and even cooking, tension leg platform, consumer and service quality. As the different conditions required, a biped robot may have to decide the correct direction, cross ditches, stand up when it has fallen down, move along sloping surfaces, avoid some obstacles, and do other things during a walking test. It is difficult designing such a robot because its dynamics are very complex, and it is hard to control the stability of biped walking. Hence, for operating and ensuring the stability of biped walking, it is necessary to generate an effective control method and good trajectory. The contribution focuses on mechanical components.
Appears in Collections:	[Department of Information Management] Papers

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