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Bond Graph Model of a Robot Leg

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Graph-Based Modelling in Engineering

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 42))

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Abstract

In the paper, we present the bond-graph model of a 12-legged robot. The robot was built within the framework of a master thesis. The system of control was designed and performed by the authors. There are versatile control options e.g. via a PC-type computer as well as commercial mobile devices such as tablets or mobile phones. Various tests of the robot were performed. The bond-graph model allows for versatile simulations that help a designer in finding the most efficient solution. The bond graph schemes are discussed in the paper.

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Authors and Affiliations

  1. University of Bielsko-Biala, Bielsko-Biała, Poland

    B. Gola, J. Kopec, J. Rysiński & S. Zawislak

Authors
  1. B. Gola
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  2. J. Kopec
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  3. J. Rysiński
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  4. S. Zawislak
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Corresponding author

Correspondence to J. Rysiński .

Editor information

Editors and Affiliations

  1. Mechanical Engineering and Computer Science, University of Bielsko-Biala, Bielsko-Biała, Poland

    Stanisław Zawiślak

  2. University of Bielsko-Biala , Bielsko-Biała, Poland

    Jacek Rysiński

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Gola, B., Kopec, J., Rysiński, J., Zawislak, S. (2017). Bond Graph Model of a Robot Leg. In: Zawiślak, S., Rysiński, J. (eds) Graph-Based Modelling in Engineering. Mechanisms and Machine Science, vol 42. Springer, Cham. https://doi.org/10.1007/978-3-319-39020-8_5

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  • DOI: https://doi.org/10.1007/978-3-319-39020-8_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-39018-5

  • Online ISBN: 978-3-319-39020-8

  • eBook Packages: EngineeringEngineering (R0)

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