Detail publikačního výsledku

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

Anglický název

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

Druh

Článek recenzovaný mimo WoS a Scopus

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.

Anglický 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

Klíčová slova v angličtině

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

Autoři

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

Vydáno

20.09.2005

Nakladatel

Academy of Sciences of the Czech Republic

Místo

Brno, CZ

Edice

Mechatronics robotics and biomechanics 2005

ISSN

1210-2717

Periodikum

Inženýrská mechanika - Engineering Mechanics

Svazek

12

Číslo

a1

Stát

Česká republika

Strany od

31

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"
}