Projects funded by the NCN

Information on the principal investigator and host institution

Information of the project and the call

Keywords

Equipment

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Modeling, kinematic-dynamic analysis and simulation of an exoskeleton prototype for the rehabilitation of people with motor disabilities of the lower limbs

2015/17/B/ST8/01700

Keywords:

walking exoskeleton muscle modeling lower limbs

Descriptors:

  • ST8_3: Computational engineering, computer-aided modelling, design and manufacturing
  • ST8_6: Mechatronics, fine mechanics

Panel:

ST8 - Production and processes engineering: modelling, product design, process design and control, construction methods and engineering, power units and systems

Host institution :

Politechnika Łódzka, Wydział Mechaniczny

woj. łódzkie

Other projects carried out by the institution 

Principal investigator (from the host institution):

prof. Jan Awrejcewicz 

Number of co-investigators in the project: 13

Call: OPUS 9 - announced on 2015-03-16

Amount awarded: 999 600 PLN

Project start date (Y-m-d): 2016-02-12

Project end date (Y-m-d): 2019-06-11

Project duration:: 40 months (the same as in the proposal)

Project status: Project settled

Project description

Download the project description in a pdf file

Note - project descriptions were prepared by the authors of the applications themselves and placed in the system in an unchanged form.

Equipment purchased [PL]

  1. Komutery obliczeniowe (laptopy wysokowydajne) - 2 szt. (9 448 PLN)
  2. Zestaw komputerowy stacjonarny do układu kontrolno-pomiarowego (29 000 PLN)
  3. Zestaw pomiarowy EMG (40 000 PLN)
  4. klucz licencyjny do systemu wizyjnego (odnowienie licencji) (17 332 PLN)
  5. Elektromiograf MyoPlus 2 Pro (5 600 PLN)
  6. kamera termowizyjna (45 000 PLN)
  7. zestaw 2 kamer wysokiej rozdzielczości z oprogramowaniem (23 800 PLN)
  8. Zestaw komputerowy stacjonarny do modelowania (11 000 PLN)
  9. egzoszkielet kończyn dolnych - budowa aparatury (48 421 PLN)
  10. platforma dynamometryczna (58 176 PLN)
  11. platforma dynamometryczna (80 000 PLN)

Information in the final report

  • Publication in academic press/journals (22)
  • Articles in post-conference publications (22)
  • Book publications / chapters in book publications (10)
  1. 'Gait pattern generator for control of a lower limb exoskeleton'
    Authors:
    D. Grzelczyk, O. Szymanowska, J. Awrejcewicz
    Academic press:
    Vibrations in Physical Systems (rok: 2018, tom: 29, strony: 2018007), Wydawca: POZNAN UNIVERSITY OF TECHNOLOGY
    Status:
    Published
    DOI:
    brak - link to the publication
  2. Dynamics, stability analysis and control of a mammal-like octopod robot driven by different central pattern generators
    Authors:
    D. Grzelczyk, J. Awrejcewicz
    Academic press:
    Journal of Computational Applied Mechanics (rok: 2019, tom: 50, strony: 76-99), Wydawca: University of Teheran
    Status:
    Published
    DOI:
    10.22059/jcamech.2019.278583.375 - link to the publication
  3. Effects of severe hallux valgus on metatarsal stress and the metatarsophalangeal loading during balanced standing: A finite element analysis
    Authors:
    Y. Zhang; J. Awrejcewicz, O. Szymanowska, S. Shen, X. Zhao, J.S Baker, Y. Gu
    Academic press:
    Computers in Biology and Medicine (rok: 2018, tom: 97, strony: 45298), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.compbiomed.2018.04.010 - link to the publication
  4. Fingers movements control system based on artificial neural network model
    Authors:
    K. Vonsevych, M.F. Goethel, J. Mrozowski, J. Awrejcewicz, M. Bezuglyi
    Academic press:
    Radioelectronics and Communications Systems (rok: 2019, tom: 62(1), strony: 23-33), Wydawca: Elsevier
    Status:
    Published
    DOI:
    brak - link to the publication
  5. Influence of the fixation region of a press–fit hip endoprosthesis on the stress–strain state of the bone–implant" system
    Authors:
    I. Levadnyi, J. Awrejcewicz, M.F. Goethel, A. Loskutov
    Academic press:
    Computers in Biology and Medicine (rok: 2017, tom: 84, strony: 195-204), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.compbiomed.2017.03.030 - link to the publication
  6. Kinematic and dynamic simulation of an octopod robot controlled by different central pattern generators
    Authors:
    D. Grzelczyk, O. Szymanowska, J. Awrejcewicz
    Academic press:
    Journal of Systems and Control Engineering (rok: 2019, tom: 233(4), strony: 400-417), Wydawca: SAGE Publishing
    Status:
    Published
    DOI:
    brak - link to the publication
  7. Model numeryczny kończyny górnej człowieka i jego analiza w aspekcie upadków do przodu
    Authors:
    P. Biesiacki, D. Grzelczyk, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Aktualne Problemy Biomechaniki (rok: 2017, tom: 43070, strony: 45426), Wydawca: Katedra Biomechatroniki Politechniki Śląskiej
    Status:
    Published
    DOI:
    BRAK - link to the publication
  8. Modeling and control of an eight-legged walking robot driven by different gait generators
    Authors:
    D. Grzelczyk, J. Awrejcewicz
    Academic press:
    International Journal of Structural Stability and Dynamics (rok: 2019, tom: 19(5), strony: 1941009-1-1941009-23), Wydawca: World Scientific Publishing Company
    Status:
    Published
    DOI:
    10.1142/S0219455419410098 - link to the publication
  9. On the choice of thickness of the cement mantle in cemented hip arthroplasty
    Authors:
    I. Levadnyi, J. Awrejcewicz, A. Loskutov, O. Szymanowska
    Academic press:
    Journal of Theoretical and Applied Mechanics (rok: 2017, tom: 55(4), strony: 1235-1244), Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Status:
    Published
    DOI:
    10.15632/jtam-pl.55.4.1235 - link to the publication
  10. Biomechanical rationale for choice of cement mantle thickness around a femoral stem
    Authors:
    I. Levadnyi, J. Awrejcewicz, O. Szymanowska, D. Grzelczyk, J.E. Gubaua, J.T. Pereira, G.W.O. Dicat
    Academic press:
    Journal of Mechanics in Medicine and Biology (rok: 2018, tom: 18 (6), strony: 1850064), Wydawca: World Scientific
    Status:
    Published
    DOI:
    10.1142/S0219519418500641 - link to the publication
  11. A two dimensional approach for modelling of pennate muscle behaviour
    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, J. Awrejcewicz, E. Wittbrodt
    Academic press:
    Biocybernetics and Biomedical Engineering (rok: 2017, tom: 37, strony: 302-315), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.bbe.2016.12.004 - link to the publication
  12. Comparative Biomechanical Analysis of Stress–Strain State of the Elbow Joint After Displaced Radial Head Fractures
    Authors:
    S. Strafun, I. Levadnyi, V. Makarov, J. Awrejcewicz
    Academic press:
    Journal of Medical and Biological Engineering (rok: 2017, tom: 2017, strony: 7), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s40846-017-0334-1 - link to the publication
  13. Development of control for the ankle joint simulator applied to the problem on vertical posture balance of a human
    Authors:
    O. Kuzmych, J. Awrejcewicz, O. Mekush, P. Pekh, K. Bortnik, E. Potemkina, I. Shubala
    Academic press:
    Eastern-European Journal of Enterprise Technologies (rok: 2018, tom: 6(7(96)), strony: 49-57), Wydawca: PC Technology Center
    Status:
    Published
    DOI:
    10.15587/1729-4061.2018.150321 - link to the publication
  14. Numerical evaluation of bone remodelling and adaptation considering different hip prosthesis designs
    Authors:
    I. Levadnyi, J. Awrejcewicz, J.E. Gubaua, J.T. Pereira
    Academic press:
    Clinical Biomechanics (rok: 2017, tom: 50, strony: 122-129), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.015 - link to the publication
  15. 'A 4-link model of a human for simulating a forward fall'
    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Vibrations in Physical Systems (rok: 2018, tom: 29, strony: 2018008), Wydawca: Poznan University of Technology
    Status:
    Published
    DOI:
    brak - link to the publication
  16. Modelling and experimental validation of the walking processes
    Authors:
    R. Nigmatullin, A.L. Morozov, J. Awrejcewicz, M. Ludwicki
    Academic press:
    Biocybernetics and Biomedical Engineering Journal (rok: 2020, tom: 40, strony: 200-210), Wydawca: Elsevier
    Status:
    Published
    DOI:
    10.1016/j.bbe.2019.03.005 - link to the publication
  17. Analysis of contact forces between the ground and hexapod robot legs during tripod gait
    Authors:
    D. Grzelczyk, J. Awrejcewicz
    Academic press:
    Machine Dynamics Research (rok: 2018, tom: 42(2), strony: 17-26), Wydawca: Warsaw University of Technology
    Status:
    Published
    DOI:
    brak - link to the publication
  18. Cooperation of mono- and bi- articular muscles: human lower limb
    Authors:
    B. Zagrodny, M. Ludwicki, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Journal of Musculosceletal and Neuronal Interactions (rok: 2018, tom: 18(2), strony: 176-182), Wydawca: Hylonome Publications
    Status:
    Published
    DOI:
    brak - link to the publication
  19. Dynamic simulation of a novel "broomstick" human forward fall model and finite element analysis of the radius under the impact force during fall
    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Academic press:
    Journal of Theoretical and Applied Mechanics (rok: 2018, tom: 56(1), strony: 239-253), Wydawca: Polskie Towarzystwo Mechaniki Teoretycznej i Stosowanej
    Status:
    Published
    DOI:
    10.15632/jtam-pl.56.1.239 - link to the publication
  20. Finite Element Analysis of Impact for Helmeted and Non-helmeted Head
    Authors:
    I. Levadnyi, J. Awrejcewicz, Y. Zhang, M.F. Goethel, Y. Gu
    Academic press:
    Journal of Medical and Biological Engineering (rok: 2017, tom: 2017, strony: 9), Wydawca: Springer
    Status:
    Published
    DOI:
    10.1007/s40846-017-0324-3 - link to the publication
  21. Generation of a gait pattern for a lower limb rehabilitation exoskeleton
    Authors:
    O. Jarzyna, D. Grzelczyk, B. Stańczyk, J. Awrejcewicz
    Academic press:
    Mechanics Based Design of Structures and Machines (rok: 2020, tom: 2020, strony: 21), Wydawca: Taylor & Francis Group
    Status:
    Published
    DOI:
    10.1080/15397734.2020.1858868 - link to the publication
  22. Kinematics, Dynamics and Power Consumption Analysis of the Hexapod Robot During Walking with Tripod Gait
    Authors:
    D. Grzelczyk, B. Stanczyk, J. Awrejcewicz
    Academic press:
    International Journal of Structural Stability and Dynamics (rok: 2017, tom: 17(5), strony: 1740010-1-1740010-17), Wydawca: World Scientific
    Status:
    Published
    DOI:
    10.1142/S0219455417400107 - link to the publication
  1. Coordinative patterns and gait stability accessed by nonlinear dynamics approach: a preliminary study
    Authors:
    M.F. Goethel, J. Mrozowski, J. Awrejcewicz
    Conference:
    23rd International Conference on Engineering Mechanics (rok: 2017, ), Wydawca: Institute of Theoretical and Applied Mechanics Academy of Sciences of the Czech Republic
    Data:
    konferencja 15-18 maja 2017
    Status:
    Published
  2. Stability and control of a hybrid walking robot on vibrating and unstable terrain
    Authors:
    Dariusz Grzelczyk, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (rok: 2019, ), Wydawca: Politechnika Łódzka
    Data:
    konferencja December 2-5, 2019
    Status:
    Published
  3. 'A simple approach to simulate lower limb movement during gait'
    Authors:
    O Szymanowska, D. Grzelczyk, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (rok: 2018, ), Wydawca: Polskie Towarzystwo Biomechaniki
    Data:
    konferencja September 5-7, 2018
    Status:
    Published
  4. A 5-link mechanical model simulating a forward fall process on the outstreched arms
    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Conference:
    23rd Congress of the European Society of Biomechanics (rok: 2017, ), Wydawca: The Higher Technical School of Engineering of the University of Seville
    Data:
    konferencja 2-5 lipca 2017
    Status:
    Published
  5. Cooperation of mono- and biarticular muscles: human lower limb
    Authors:
    B. Zagrodny, M. Ludwicki, W. Wojnicz, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  6. Modelling and analysis of the human upper extremity in various forearm configurations resulting from a fall
    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Conference:
    23rd Congress of the European Society of Biomechanics (rok: 2017, ), Wydawca: The Higher Technical School of Engineering of the University of Seville
    Data:
    konferencja 2-5 lipca 2017
    Status:
    Published
  7. The influence of the thickness of the cement mantle on the quality of total hip arthroplasty
    Authors:
    I. Levadnyi, O. Szymanowska, W. Kunikowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  8. Finite element analysis of fixation of intertrochanteric fractures of the femur using different designs
    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  9. The rational choice of the thickness of the cement mantle in total hip arthroplasty
    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  10. 'Determination of the relationship between lower limb muscle activities, centre of mass and centre of pressure displacement over stepping'
    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, J. Mrozowski, J. Awrejcewicz, E. Wittbrodt
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (rok: 2018, ), Wydawca: Polskie Towarzystwo Biomechaniki
    Data:
    konferencja September 5-7, 2018
    Status:
    Published
  11. 'Open and scalable trajectory-based exoskeleton control system architecture'
    Authors:
    W. Kunikowski, O. Szymanowska, M. Krain, D. Grzelczyk, J. Mrozowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (rok: 2018, ), Wydawca: Polskie Towarzystwo Biomechaniki
    Data:
    konferencja September 5-7, 2018
    Status:
    Published
  12. Biomechanical model for gait analysis in a sagittal plane
    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, J. Mrozowski, J. Awrejcewicz, E. Wittbrodt
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  13. Muscle activity during gait - electromyographic and thermographic point of view
    Authors:
    B. Zagrodny, M. Ludwicki, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (rok: 2018, ), Wydawca: Polskie Towarzystwo Biomechaniki
    Data:
    konferencja September 5-7, 2018
    Status:
    Published
  14. Portable system for upper limb movement tracking
    Authors:
    Michał Ludwicki, Kinga Ostrowska, Natalia Marcinowska, Mateusz Kaszowski
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (rok: 2019, ), Wydawca: Politechnika Łódzka
    Data:
    konferencja December 2-5, 2019
    Status:
    Published
  15. The study of stress state in the case of different types of fixation of the stem prosthesis in the femoral bone
    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  16. A simple pattern generator for biped walking
    Authors:
    Olga Jarzyna, Dariusz Grzelczyk, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (rok: 2019, ), Wydawca: Politechnika Łódzka
    Data:
    konferencja December 2-5, 2019
    Status:
    Accepted for publication
  17. 'Criterion of gait stability based on centre of mass displacement'
    Authors:
    M. Ludwicki, B. Zagrodny, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics 'Biomechanics 2018' (rok: 2018, ), Wydawca: Polskie Towarzystwo Biomechaniki
    Data:
    konferencja September 5-7, 2018
    Status:
    Published
  18. Biomechanical investigation of contact interactions on articular surfaces of elbow joint
    Authors:
    I. Levadnyi, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  19. Forward fall on outstretched hands as a 4-DOF biomechanical model
    Authors:
    P. Biesiacki, J. Mrozowski, D. Grzelczyk, J. Awrejcewicz
    Conference:
    International Conference of the Polish Society of Biomechanics (rok: 2016, ), Wydawca: Mazowieckie Centrum Poligrafii, Marki
    Data:
    konferencja 5-7 września 2016
    Status:
    Published
  20. Influence of the shoe type on the ground reaction forces during gait
    Authors:
    Małgorzata Klepczyńska, Bartłomiej Zagrodny, Wiktoria Wojnicz, Michał Ludwicki, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (rok: 2019, ), Wydawca: Politechnika Łódzka
    Data:
    konferencja December 2-5, 2019
    Status:
    Published
  21. Multibody models for gait analysis
    Authors:
    Wiktoria Wojnicz, Bartłomiej Zagrodny, Michał Ludwicki, Jerzy Mrozowski, Jan Awrejcewicz, Edmund Wittbrodt
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (rok: 2019, ), Wydawca: Politechnika Łódzka
    Data:
    konferencja December 2-5, 2019
    Status:
    Published
  22. Modelling and control of a lower limb exoskeleton driven by linear actuators
    Authors:
    Dariusz Grzelczyk, Olga Jarzyna, Jan Awrejcewicz
    Conference:
    15th INTERNATIONAL CONFERENCE Dynamical Systems — Theory and Applications (rok: 2019, ), Wydawca: Politechnika Łódzka
    Data:
    konferencja December 2-5, 2019
    Status:
    Accepted for publication
  1. A 3-link model of a human for simulating a fall in forward direction
    Authors:
    D. Grzelczyk, P. Biesiacki, J. Mrozowski, J. Awrejcewicz
    Book:
    Dynamical Systems in Applications - Springer Proceedings in Mathematics and Statistics (rok: 2018, tom: 249, strony: 135-146), Wydawca: Springer
    Status:
    Published
  2. Exoskeleton - control by pressure sensors - practical solution
    Authors:
    M. Krain, B. Zagrodny, J. Awrejcewicz
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (rok: 2017, tom: 2017, strony: 285-296), Wydawca: DAB&M of TUL Press
    Status:
    Published
  3. Hydraulically Driven Unit Converting Rotational Motion into Linear One
    Authors:
    O. Szymanowska, G. Szymkiewicz, D. Lewandowski, D. Grzelczyk, J. Awrejcewicz
    Book:
    Springer Proceedings in Mathematics and Statics - Dynamical Systems: Modelling (rok: 2016, tom: 181, strony: 361-373), Wydawca: Springer
    Status:
    Published
  4. A novel human "broomstick" forward fall model and its application in the strength analysis of the human upper extremity
    Authors:
    P. Biesiacki, D. Grzelczyk, J. Mrozowski, J. Awrejcewicz
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (rok: 2017, tom: 2017, strony: 65-72), Wydawca: DAB&M of TUL Press
    Status:
    Published
  5. Modelling of Forward Fall on Outstretched Hands as a System with Ground Contact
    Authors:
    P. Biesiacki, J. Mrozowski, D. Grzelczyk, J. Awrejcewicz
    Book:
    Springer Proceedings in Mathematics and Statics - Dynamical Systems: Modelling (rok: 2016, tom: 181, strony: 61-72), Wydawca: Springer
    Status:
    Published
  6. Approach for determination of functioning of lower limb muscles
    Authors:
    W. Wojnicz, B. Zagrodny, M. Ludwicki, M. Syczewska, J. Mrozowski, J. Awrejcewicz
    Book:
    Dynamical Systems in Theoretical Perspective - Springer Proceedings in Mathematics and Statistics (rok: 2018, tom: 249, strony: 135-146), Wydawca: Springer
    Status:
    Published
  7. Influence of the fixation region of a hip stem on the behaviour of the bone–implant" system
    Authors:
    I. Levadnyi, D. Grzelczyk, J. Awrejcewicz, O. Loskutov
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (rok: 2017, tom: 2017, strony: 321-328), Wydawca: DAB&M of TUL Press
    Status:
    Published
  8. Mathematical modelling and investigations of the hexapod robot
    Authors:
    D. Grzelczyk, B. Stańczyk, J. Awrejcewicz
    Book:
    Research Advances in Applied Mechanics, R. Mania (Ed.) (rok: 2016, tom: 6, strony: 169-190), Wydawca: Wydawnictwo Politechniki Łódzkiej
    Status:
    Published
  9. Influence of Additional Loads on Chosen Gait Parameters and Muscles Activity
    Authors:
    M. Ludwicki, B. Zagrodny, W. Wojnicz, J. Mrozowski, J. Awrejcewicz
    Book:
    Vibrations in Physical Systems (rok: 2016, tom: 27, strony: 227-236), Wydawca: Agencja Reklamowa COMPRINT, Poznań
    Status:
    Published
  10. Simulation of the octopod robot controlled by different Central Patterns Generators
    Authors:
    D. Grzelczyk, B. Stańczyk, O. Szymanowska, J. Awrejcewicz
    Book:
    Engineering Dynamics and Life Sciences, (Eds.) J. Awrejcewicz, M. Kaźmierczak, J. Mrozowski, P. Olejnik (rok: 2017, tom: 2017, strony: 229-238), Wydawca: DAB&M of TUL Press
    Status:
    Published

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