Optimizing a quadruped robot: a comparison of two methods

Robots that have been optimized in simulation often underperform in the real world in comparison to their simulated counterparts. This difference in performance is often called a reality-gap. In this paper, we use two methods, genetic algorithm and topology optimization, to optimize a quadruped robot. We look at the original and optimized robots' performance in simulation and reality and compare the results. Both methods show improvement in the robot's efficiency, however the topology optimization behaves in a more predictable manner and shows similar results in simulation and in real laboratory testing. Modifying robot morphology with a genetic algorithm, although less predictable, has a potential for more improvement in efficiency.Web of Science20214355434

Upgrade of biaxial mechatronic testing machine for cruciform specimens and verification by FEM analysis

This article deals with the modernization of an existing loading system for the analysis of elastic-plastic properties of sheet metals in plane stress. The identification of the beginning of plastic deformation of sheet metal in plane strain is important in the cold pressing of sheet metal and in the assessment of the load capacity of thin-walled structures in the automotive and aerospace industry. The design of the control structure of the hydraulic part of the loading system for cross testing was carried out to automatize the whole process of experimental evaluation. For this purpose, proportional pressure-reducing valves together with control electronics were designed. Thus, the loading system is a control system for which a control algorithm has been designed and implemented on a PC. A computer simulation was performed to verify the functionality of the load system. An FEM simulation was performed to verify the correctness of the proposed numerical models and to confirm the experimental results. A numerical nonlinear model of the selected material was applied for the specification of plastic deformations. From the results, it is possible to state the appropriateness of the used models as well as the appropriateness of using modernized equipment for subsequent analysis of the plastic deformation of cruciform specimens.Web of Science1010art. no. 91

Biped robot with unconventional kinematics

The article deals with the design of a robot with an unconventional kinematic structure, which is able to vertically stabilize the position of the robot base for the placement of sensors and handling superstructures. The robot concept was designed to have as few actuators as possible. The robot's kinematics was solved for the purpose of simulating the robot's movement and implementation into the robot's control system.Web of Science20225824581

Circuits and Their Applications

Abstract Logic circuits are inseparable part of almost every modern electronic device. Due to constant raising of requirements of society for technical complexity of these devices, complex integrated circuits are used more frequently. This article deals with mathematical apparatus, which logic circuits work on, and to explain methods of entry and execution of logical functions

Model of Mobile Robot with Divided Chassis

Abstract This article is about designing and constructing a four-wheel chassis, which will possess better negotiability of diverse terrain. Analyzed is a used concept of chassis motion control of mechatronic systems on the principle of differential wheel control for the task of active tracking of planned chassis path. Created was a simulation model of chassis mobile system in terms of kinematics, which will be usable in concept of chassis locomotion control on diverse terrain. A model is also required for examining behavior of chassis on diverse terrain, for examining the influence of dimensions on chassis behavior during crossing over roughness of terrain. Keywords: mobile robot, simulation Cite This Article: Ľubica Miková, Michal Kelemen, and Alexander Gmiterko, "Model of Mobile Robot with Divided Chassi

Snake Robot Locomotion Patterns for Straight and Curved Pipe

In the paper the locomotion of snake robot is introduced considering locomotion in straight and curved pipe. For the straight pipe locomotion was designed traveling wave locomotion pattern with sine-like wave which expands from rear of the robot to its front. For the locomotion in curved pipe was designed approach which is based on inverse kinematic model including besides primary task also secondary tasks, namely kinematic singularities avoidance task, obstacle avoidance task and joint limit avoidance task. For final inverse kinematic model was used approach of weight matrices by which can be stated the priorities of particular tasks. Both case studies were tested by experimental snake robot in order to verify introduced methodology for locomotion in the straight and curved pipe

15-21Comparison of Different Approaches of Mathematical Modelling of Ackerman Steered Car-like System

Abstract The article deals with the issue of mathematical modelling of nonholonomic system. The introductory part of article contains theory about different approaches of mathematical modelling that we used. Further we explained the basic principle of Ackerman steered car-like system. Then it contains the determination of mathematical model for Ackerman steered car-like system where we consider ideal source of velocity. In the last part we compared and showed individual advantages and disadvantages of approaches of mathematical modelling

Declination Angle Gage for Tilt Measurement Sensors

AbstractThere are many examples of devices which need information about tilt angle. Legged mobile robots need tilt information for locomotion stabilization. Coaxial two wheeled mobile devices and snake like robots need tilt information for vertical stabilization. Safety systems for monitoring of dangerous tilt angle are sometime needed. The calibration and testing process is very important before using of the tilt sensors. This paper deals with declination angle gage for testing of these tilt sensors. Declination angle gage allows setting any reference angle for testing of tilt sensor. Calibration and testing process explores the validity and uncertainty of measurement through the tested tilt sensor