Detail publikace

Sensing of the platform position of the walking robot

Originální název

Sensing of the platform position of the walking robot

Anglický název

Sensing of the platform position of the walking robot

Jazyk

en

Originální abstrakt

Determination of the platform position of the walking robot can be divided into several issues. Two most significant issues, according to our opinion, for the robot platform position are described in this contribution. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. Measurement of the distance between robot platform and terrain constitutes the second issue. It works on the 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

Determination of the platform position of the walking robot can be divided into several issues. Two most significant issues, according to our opinion, for the robot platform position are described in this contribution. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. Measurement of the distance between robot platform and terrain constitutes the second issue. It works on the 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.

BibTex


@inproceedings{BUT12297,
  author="Pavel {Houška} and Milan {Kopinec} and Martin {Liška} and Vladislav {Singule}",
  title="Sensing of the platform position of the walking robot",
  annote="Determination of the platform position of the walking robot can be divided into several issues. Two most significant issues, according to our opinion, for the robot platform position are described in this contribution. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. Measurement of the distance between robot platform and terrain constitutes the second issue. It works on the 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.",
  address="Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic",
  booktitle="3rd Internatiomal Congress on Mechatronics MECH2K4",
  chapter="12297",
  institution="Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic",
  year="2004",
  month="july",
  pages="276",
  publisher="Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic",
  type="conference paper"
}