Publication detail

Sensing of the platform position of the walking robot

HOUŠKA, P. KOPINEC, M. LIŠKA, M. SINGULE, V.

English title

Sensing of the platform position of the walking robot

Type

Paper in proceedings (conference paper)

Language

en

Original abstract

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.

Keywords in English

Walking robots, Inclinometer, Gyro, Leg Landing

Released

2004-07-07

Publisher

Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic

Location

Praha

ISBN

80-01-03088-1

Book

3rd Internatiomal Congress on Mechatronics MECH2K4

Pages from–to

276–

Pages count

9

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",
  booktitle="3rd Internatiomal Congress on Mechatronics MECH2K4",
  year="2004",
  number="1",
  pages="9",
  publisher="Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic",
  address="Praha",
  isbn="80-01-03088-1"
}