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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 , 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  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)
This article describes the creation MATLAB model for the six-legged walking robot by the name of new “Szabad(ka)-Duna”, starting from the creation of the motor model through the inverse kinematic and inverse dynamic model to the insertion of the control algorithms.
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 problem of correct radio telemetry can only be solved if the signal is preprocessed. This work presents the pre-distortion and reconstruction process of a real time signal, and its effects.
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)
The current research is part of the building of a dynamic model for Szabad(ka)-II hexapod walking robot. The fixed-step solver type was used within the Simulink environment and the inverse dynamics was calculated using the Robotics Toolbox. The model based on rigid-body dynamics should comprise a sponge-coated foot. A simple approximate spring-damper model… (More)