Title :
Development of a DES toolbox and its application to a robot-gait planning
Author :
Suzuki, Naoto ; Takahira, Kenichi ; Kajiwara, Hiroyuki
Author_Institution :
Graduate Sch. of Eng., Kyushu Univ., Fukuoka, Japan
Abstract :
The paper presents a discrete-event-system toolbox that we developed and its application to gait planning of a six-leg robot. It is shown that K†C operation can generate a non-conservative gait.
Keywords :
discrete event systems; gait analysis; mobile robots; path planning; robot programming; DES toolbox; K†C operation; automaton model; data structure; discrete-event-system toolbox; modular control architecture; nonconservative gait; robot-gait planning; six-leg robot; supervisory control; Automata; Automatic control; Collision avoidance; Discrete event systems; Integrated circuit modeling; Leg; Legged locomotion; Mathematical model; Robots; Supervisory control;
Conference_Titel :
SICE 2002. Proceedings of the 41st SICE Annual Conference
Print_ISBN :
0-7803-7631-5
DOI :
10.1109/SICE.2002.1195266
