Publication detail

Control of dynamic stability of the four-legged walking robot movement

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

Original Title

Control of dynamic stability of the four-legged walking robot movement

English Title

Control of dynamic stability of the four-legged walking robot movement

Type

journal article - other

Language

Czech

Original Abstract

The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.

English abstract

The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.

Key words in English

Walking Robot, Gyro, Inclinometer, Stability Sensing

Authors

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

RIV year

2004

Released

23. 9. 2004

Location

Warsaw, Poland

ISBN

0033-2089

Periodical

Elektronika

Year of study

2004

Number

8-9

State

Republic of Poland

Pages from

39

Pages to

41

Pages count

3

BibTex

@article{BUT45409,
  author="Pavel {Houška} and Vladislav {Singule} and Tomáš {Březina} and Zdeněk {Ehrenberger}",
  title="Control of dynamic stability of the four-legged walking robot movement",
  journal="Elektronika",
  year="2004",
  volume="2004",
  number="8-9",
  pages="3",
  issn="0033-2089"
}