DOI 10.17586/0021-3454-2024-67-2-195-199
UDC 004.942
FEATURES OF CONSTRUCTING A BOND GRAPH OF WALKING ROBOTS
ITMO University, Faculty of Control Systems and Robotics;
M. Y. Marusina
ITMO University, Saint Petersburg, 197101, Russian Federation; Professor, Scientific Secretary
Reference for citation: Dmitriev V. А., Marusina M. Ya. Features of constructing a bond graph of walking robots. Journal of Instrument Engineering. 2024. Vol. 67, N 2. P. 195—199 (in Russian). DOI: 10.17586/0021-3454-2024-67-2-195-199
Abstract. The general dynamics of multi-link systems that implement the “walking” principle of movement are described, and an approach to constructing a bond graph model of a walking robot is developed. The presented mechanisms are modeled to evaluate a number of specific requirements, such as dynamics, positioning accuracy and energy expended for movement. An approach to changing single-node bond graphs to bond graphs in the format of multi-connections of nodal vectors and, as a consequence, simplifying the visualization of the generated model is described. The construction of a bond graph model under conditions of non-determinism of external influences, which are simulated by the random nature of the information received, is considered.
Abstract. The general dynamics of multi-link systems that implement the “walking” principle of movement are described, and an approach to constructing a bond graph model of a walking robot is developed. The presented mechanisms are modeled to evaluate a number of specific requirements, such as dynamics, positioning accuracy and energy expended for movement. An approach to changing single-node bond graphs to bond graphs in the format of multi-connections of nodal vectors and, as a consequence, simplifying the visualization of the generated model is described. The construction of a bond graph model under conditions of non-determinism of external influences, which are simulated by the random nature of the information received, is considered.
Keywords: bond graph, dynamics, analysis, energy, walking robot, non-deterministic environment, sensor system
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