Detail publikace

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

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

Originální název

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

Typ

článek v časopise - ostatní, Jost

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

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

Autoři

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

Rok RIV

2005

Vydáno

20. 9. 2005

Nakladatel

Academy of Sciences of the Czech Republic

Místo

Brno, CZ

ISSN

1210-2717

Periodikum

Inženýrská mechanika - Engineering Mechanics

Ročník

12

Číslo

a1

Stát

Česká republika

Strany od

31

Strany do

36

Strany počet

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"
}