Publication detail

THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT - LEG LANDING SENSOR

HOUŠKA, P., MARADA, T., SINGULE, V., EHRENBERGER, Z.

Original Title

THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT - LEG LANDING SENSOR

Type

journal article - other

Language

English

Original Abstract

The control of platform position of the walking robot consists of sensing the actual platform position and the control tasks. Regarding the robot platform position we focus our attention to two most significant issues. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. The measurement of the distance between robot platform and terrain constitutes the second issue. The method used is based on estimation of the legs landing forces vectors and subsequent evaluation of the legs landing positions through the forward kinematics of the legs with the knowledge of the particular drives positions of the legs.

Keywords

Walking robots, leg landing, platform position of the walking robot

Authors

HOUŠKA, P., MARADA, T., SINGULE, V., EHRENBERGER, Z.

RIV year

2005

Released

20. 9. 2005

Publisher

Academy of Sciences of the Czech Republic

Location

Brno, CZ

ISBN

1210-2717

Periodical

Inženýrská mechanika - Engineering Mechanics

Year of study

12

Number

a1

State

Czech Republic

Pages from

31

Pages to

36

Pages count

6

BibTex

@article{BUT46172,
  author="Pavel {Houška} and Tomáš {Marada} and Vladislav {Singule} and Zdeněk {Ehrenberger}",
  title="THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT - LEG LANDING SENSOR",
  journal="Inženýrská mechanika - Engineering Mechanics",
  year="2005",
  volume="12",
  number="a1",
  pages="6",
  issn="1210-2717"
}