Simulations of the Robot Adaptation and Motion in Various Environments

  • Michał Ciszewski
  • Mariusz Giergiel
  • Tomasz Buratowski
  • Piotr MałkaEmail author
Part of the Mechanisms and Machine Science book series (Mechan. Machine Science, volume 82)


In this chapter, robot motion and adaptation co-simulations in MATLAB and V REP environments are described. The simulations feature various motion scenarios, including pipe adaptation, motion on horizontal surfaces, rough terrain, horizontal and vertical pipes. The simulations performed provided valuable resources for control system of the robot prototype and served as indispensable validation tools for proper desing and tuning of the original pedipulator trajectory calculation algorithm.


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Copyright information

© The Editor(s) (if applicable) and The Author(s), under exclusive license to Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Department of Robotics and MechatronicsAGH University of Science and TechnologyKrakowPoland

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