This paper deals with the design of complex dynamic model of quadruped walking mobil robot. There is described the method of building of the numerical computational model and its simulating. Complex model consist of submodels of robotic mechanism, DC motor, gearbox model and thermal model of electrical motor. Control algorithms are also considered in model. In the paper is also discussed application of computational model directly for control of robot and also as a data generator for global and local approximation method, mainly artificial neural networks.

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