Detail publikace

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

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

Jazyk

en

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.

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",
  annote="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.",
  address="Academy of Sciences of the Czech Republic",
  chapter="46172",
  edition="Mechatronics robotics and biomechanics 2005",
  institution="Academy of Sciences of the Czech Republic",
  journal="Inženýrská mechanika - Engineering Mechanics",
  number="a1",
  volume="12",
  year="2005",
  month="september",
  pages="31",
  publisher="Academy of Sciences of the Czech Republic",
  type="journal article - other"
}