%PDF-1.6
%
1 0 obj
<<
/Metadata 2 0 R
/Pages 3 0 R
/Type /Catalog
>>
endobj
4 0 obj
<<
/Author (Mindaugas Luneckas)
/CreationDate (D:20191220131044+01'00')
/Creator (LaTeX with hyperref package)
/Keywords (hexapod walking robot; irregular terrain; obstacle avoidance; energy consumption; leg trajectory optimization)
/ModDate (D:20191227163127+01'00')
/Producer (dvipdfm)
/Subject (Metrology and Measurement Systems, 4 \(2019\) 645-660. doi 10.24425/mms.2019.130562)
/Title (Energy-efficient walking over irregular terrain: a case of hexapod robot)
>>
endobj
2 0 obj
<<
/Length 4492
/Subtype /XML
/Type /Metadata
>>
stream
2019-12-27T16:31:27+01:00
2019-12-20T13:10:44+01:00
2019-12-27T16:31:27+01:00
LaTeX with hyperref package
application/pdf
Metrology and Measurement Systems, 4 (2019) 645-660. doi 10.24425/mms.2019.130562
Mindaugas Luneckas
Tomas Luneckas
Dainius Udris
Darius Plonis
Rytis Maskeliunas
Robertas Damasevicius
Energy-efficient walking over irregular terrain: a case of hexapod robot
hexapod walking robot
irregular terrain
obstacle avoidance
energy consumption
leg trajectory optimization
uuid:7cff43a1-f476-5743-ab3c-d9dbb40f18dd
uuid:57907a21-ed7f-4773-bb67-35d430ebb4aa
dvipdfm
hexapod walking robot; irregular terrain; obstacle avoidance; energy consumption; leg trajectory optimization
endstream
endobj
3 0 obj
<<
/Count 16
/Kids [5 0 R 6 0 R 7 0 R]
/Type /Pages
>>
endobj
5 0 obj
<<
/Count 6
/Kids [8 0 R 9 0 R 10 0 R 11 0 R 12 0 R 13 0 R]
/Parent 3 0 R
/Type /Pages
>>
endobj
6 0 obj
<<
/Count 5
/Kids [14 0 R 15 0 R 16 0 R 17 0 R 18 0 R]
/Parent 3 0 R
/Type /Pages
>>
endobj
7 0 obj
<<
/Count 5
/Kids [19 0 R 20 0 R 21 0 R 22 0 R 23 0 R]
/Parent 3 0 R
/Type /Pages
>>
endobj
8 0 obj
<<
/Annots [24 0 R 25 0 R 26 0 R 27 0 R 28 0 R 29 0 R 30 0 R 31 0 R]
/Contents [32 0 R 33 0 R 34 0 R 35 0 R 36 0 R 37 0 R 38 0 R 39 0 R 40 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 5 0 R
/Resources 41 0 R
/Rotate 0
/Type /Page
>>
endobj
9 0 obj
<<
/Contents [42 0 R 43 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 5 0 R
/Resources 44 0 R
/Rotate 0
/Type /Page
>>
endobj
10 0 obj
<<
/Annots [45 0 R]
/Contents [46 0 R 47 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 5 0 R
/Resources 48 0 R
/Rotate 0
/Type /Page
>>
endobj
11 0 obj
<<
/Contents [49 0 R 50 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 5 0 R
/Resources 51 0 R
/Rotate 0
/Type /Page
>>
endobj
12 0 obj
<<
/Annots [52 0 R]
/Contents [53 0 R 54 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 5 0 R
/Resources 55 0 R
/Rotate 0
/Type /Page
>>
endobj
13 0 obj
<<
/Annots [56 0 R 57 0 R 58 0 R 59 0 R 60 0 R 61 0 R]
/Contents [62 0 R 63 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 5 0 R
/Resources 64 0 R
/Rotate 0
/Type /Page
>>
endobj
14 0 obj
<<
/Annots [65 0 R]
/Contents [66 0 R 67 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 6 0 R
/Resources 68 0 R
/Rotate 0
/Type /Page
>>
endobj
15 0 obj
<<
/Contents [69 0 R 70 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 6 0 R
/Resources 71 0 R
/Rotate 0
/Type /Page
>>
endobj
16 0 obj
<<
/Annots [72 0 R 73 0 R 74 0 R 75 0 R]
/Contents [76 0 R 77 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 6 0 R
/Resources 78 0 R
/Rotate 0
/Type /Page
>>
endobj
17 0 obj
<<
/Contents [79 0 R 80 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 6 0 R
/Resources 81 0 R
/Rotate 0
/Type /Page
>>
endobj
18 0 obj
<<
/Annots [82 0 R]
/Contents [83 0 R 84 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 6 0 R
/Resources 85 0 R
/Rotate 0
/Type /Page
>>
endobj
19 0 obj
<<
/Contents [86 0 R 87 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 7 0 R
/Resources 88 0 R
/Rotate 0
/Type /Page
>>
endobj
20 0 obj
<<
/Annots [89 0 R]
/Contents [90 0 R 91 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 7 0 R
/Resources 92 0 R
/Rotate 0
/Type /Page
>>
endobj
21 0 obj
<<
/Contents [93 0 R 94 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 7 0 R
/Resources 95 0 R
/Rotate 0
/Type /Page
>>
endobj
22 0 obj
<<
/Annots [96 0 R]
/Contents [97 0 R 98 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 7 0 R
/Resources 99 0 R
/Rotate 0
/Type /Page
>>
endobj
23 0 obj
<<
/Contents [100 0 R 101 0 R]
/CropBox [0.0 0.0 470.55 668.98]
/MediaBox [0.0 0.0 470.55 668.98]
/Parent 7 0 R
/Resources 102 0 R
/Rotate 0
/Type /Page
>>
endobj
24 0 obj
<<
/A <<
/D (17)
/S /GoTo
>>
/Border [0 0 0]
/C [1 0 0]
/Rect [281.96 643.534 292.421 648.335]
/Subtype /Link
/Type /Annot
>>
endobj
25 0 obj
<<
/A <<
/S /URI
/URI (http://www.metrology.pg.gda.pl/)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [180.168 581.755 251.433 587.937]
/Subtype /Link
/Type /Annot
>>
endobj
26 0 obj
<<
/A <<
/S /URI
/URI (mailto:mindaugas.luneckas@vgtu.lt)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [56.707 451.688 148.292 458.753]
/Subtype /Link
/Type /Annot
>>
endobj
27 0 obj
<<
/A <<
/S /URI
/URI (mailto:tomas.luneckas@vgtu.lt)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [152.277 451.688 228.16 458.753]
/Subtype /Link
/Type /Annot
>>
endobj
28 0 obj
<<
/A <<
/S /URI
/URI (mailto:dainius.udris@vgtu.lt)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [232.145 451.688 301.198 458.753]
/Subtype /Link
/Type /Annot
>>
endobj
29 0 obj
<<
/A <<
/S /URI
/URI (mailto:darius.plonis@vgtu.lt)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [305.183 451.688 374.236 458.753]
/Subtype /Link
/Type /Annot
>>
endobj
30 0 obj
<<
/A <<
/S /URI
/URI (mailto:rytis.maskeliunas@ktu.lt)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [89.624 431.952 168.926 439.017]
/Subtype /Link
/Type /Annot
>>
endobj
31 0 obj
<<
/A <<
/S /URI
/URI (mailto:robertas.damasevicius@polsl.pl)
>>
/Border [0 0 0]
/C [0 1 1]
/Rect [66.823 412.714 169.677 419.779]
/Subtype /Link
/Type /Annot
>>
endobj
32 0 obj
<<
/Length 33
>>
stream
q
360 0 0 28 55 630 cm
/Im3 Do
Q
endstream
endobj
33 0 obj
<<
/Filter /FlateDecode
/Length 611
>>
stream
H|TaO0+hKϱ-@e閄mhCEY5Ai?ۗR`5ݽw)g(ojɎ;v84,.cOfhY!k|h 3gg<%#@{:@fj"ܓ%KRKAYV=$;f3s)Ѥ2eG*҃V
t$:Jfr7PZ;{:hel%D2JoY>Gw*KSX?go>8H4:2OӑІ_ E}JMʢ=oIYwk3Fkr:ХcSn~-PDZTm[S$s+9iEa)rSv+,߬jX/`1d,V^T
A!:ξuɉ};_SNǸ:Nc%H/2y>("_ގϪ:3é0 WSV5M9:
ҕMSTQLT I\-{!~(т}0LigO2>Xxtw}&4FO0"
;̋@ j
endstream
endobj
34 0 obj
<<
/Filter /FlateDecode
/Length 485
>>
stream
HTn0?Rz෪"iUE/m(˕7H]9sfؐH$+ImiRK|ҩ
&9{$(= dc؆`MLkĜޗa7
G~#t.߲{DnI$$*ytofJӪqS[x%-j@WQVHEW1iނԂ+HOt92.CAM<2BJA&-|ji1!DY_5KѤtO]+8}l]73kiџW=1d%i8f«*>|54=k9;\I˓[7xgD q@w:XCW9X|)|x[e3qۧ3:XrhmEQ<o~ggyJ{_dwdo CW#
endstream
endobj
35 0 obj
<<
/Filter /FlateDecode
/Length 489
>>
stream
HR]o0+~wmbD7 Axb{0YI*N@hؾ{|)߃RoutjZU/$ȱA T*Q3t_
>.M;"#8su18Ǵ8ߍw'sNGUDwPϠGr2|H& (cTψi]| CT}mKThh#omGLOwvg:Q}xʼmlL:_yk;tIwL13fȥ.9/f͈(QN`&`|VFa.ztz`|Tpڮ8]&sF'*y1Ķ{Ƅƶn{Ѽ4~`
hWȩkCh5G?g|l$/{B4وy@fu۵Vpk؍:̩+~_C39$`toI/[ݭT_{S R3
endstream
endobj
36 0 obj
<<
/Filter /FlateDecode
/Length 603
>>
stream
HRr0iR6tַ&Zb6t<ez':;e;QiB7#lUD_1W)qϤk!,ٷW}/ُXj-硍({+JUUNhw?I,
ǹԝh_|mZ>}^MζOF.'U']H0WnFgkU^P0vU+jf'FtS`b?wZd=ܤMJx(5?!fsJuVfP
|-/T btRy(_ V\xLË́v2jGMJH[ddM<ߏ|>$n.Eߤ_ʎ_*~QD[߹A_RK U[ZJEi
}$o:~|DKcѪ6sAqsp64Y+zLR=bC:5A
Ӕ6]9xV×s&!
!]]Zx爳ȔS9l"Eb6Aaa
+ Y=
endstream
endobj
37 0 obj
<<
/Filter /FlateDecode
/Length 572
>>
stream
HdTr0əcɒ$=C%>4"9 \`?ŲZx)"LrYbRv[ܙV.ȪQ'89rQ ɏ.jONq/Y7B'A҈[\1'^v{f;Fu&=I84;V@~Bd99`O1H=!7Ͷ3뵘 cCgoM<7 =ikAFi"T݉(^ziħ\,'&e*|-Umqʧ\#gkY:=VĊu6k;,r.z