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"Szabad(ka)" is a hexapod walker constructed at the Polytechnical Engineering College "VTS" Subotica to test and help implementing algorithms, designed by the Hungarian science institute called "KFKI", and our college. These algorithms are connected to combined force and position control, and their primary object is to achieve robust, adaptable walking in(More)
The Szabad(ka)-II hexapod robot with 18 DOF is a suitable mechatronic device for the development of hexapod walking algorithm and engine control [1, 2]. The required full dynamic model has already been built [3], which is used as a black-box for the walking optimizations in this research. The ellipse-based walking trajectory has been generated that was(More)
The dynamic model calculates the forces and electric activities that appear during the movement of the robot. The article [1] demonstrates a full kinematic model of a four-wheeled robot car which we have expanded with a minimal dynamic model in this work. Fuzzy route control was applied, because it was more customizable than the simple PID control. In the(More)
While studying the movement of driven robots a four-wheeled car is one of the most commonly used and preferred models. In the modeling process it can be assumed that the motion occurs in a two-dimensional space and the object can be driven forward or backward. In the foreseen task, the robot must reach a target point by some predefined specific control(More)
In building walking hexapod robot great time and effort is needed to optimize robot walking. When simulating robotic gaits, several parameters affect simulation output. These parameters need to be optimized in order to achieve optimal robot movement. Genetic algorithm is used to optimize parameters in the simulation.
The paper presents the utilization of low-resolution data for control purposes. The control is based on fuzzy logic, with the deployment of stochastic digital low-resolution time arrays. Every control decision contains a degree of imprecision, being derived from measured low-resolution data. The imprecision is eliminated by stochastic noise superimposed(More)
The aim of this paper is to introduce a novel method for determining the structure and dimensions of a walking robot using an optimization method. With this solution the parameters of the robot's gait algorithm can also be fine-tuned. Prior to the construction of the authors' latest robot called Szabad(ka) II, a sophisticated modeling was carried out. With(More)