Publication detail

Collision States Detection For Quadruped Robot Motion

CHMELÍČEK, J., GREPL, R., BEZDÍČEK, M., ŠVEHLÁK, M.

Original Title

Collision States Detection For Quadruped Robot Motion

English Title

Collision States Detection For Quadruped Robot Motion

Type

conference paper

Language

en

Original Abstract

Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.

English abstract

Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.

RIV year

2004

Released

01.01.2004

Location

Svratka

ISBN

80-85918-88-9

Book

Engineering Mechanics

Pages from

125

Pages to

250

Pages count

126

Documents

BibTex


@inproceedings{BUT12231,
  author="Jaroslav {Chmelíček} and Robert {Grepl} and Milan {Bezdíček} and Michal {Švehlák}",
  title="Collision States Detection For Quadruped Robot Motion",
  annote="Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.",
  booktitle="Engineering Mechanics",
  chapter="12231",
  year="2004",
  month="january",
  pages="125",
  type="conference paper"
}