Open AccessA mathematical model of treelike actuator of a walking robot considering imposed links
Author(s) -
Alexander Kovalchuk,
V. V Yarots
Publication year - 2015
Publication title -
izvestiâ mgtu "mami"
Language(s) - English
Resource type - Journals
eISSN - 2949-1428
pISSN - 2074-0530
DOI - 10.17816/2074-0530-67037
Subject(s) - robot , actuator , computer science , block (permutation group theory) , control engineering , control theory (sociology) , simulation , engineering , artificial intelligence , mathematics , control (management) , geometry
Block-matrix model of treelike actuator of walking robot is developed by considering external links imposed. This paper proposes an algorithm of formation of the mathematical model based on the use of matrices (4x4) and graph theory. The authors showed efficiency of its use for walking robots (by example of a bipedal walking robot).