Detail publikace
Control of dynamic stability of the four-legged walking robot movement
HOUŠKA, P. SINGULE, V. BŘEZINA, T. EHRENBERGER, Z.
Český název
Control of dynamic stability of the four-legged walking robot movement
Anglický název
Control of dynamic stability of the four-legged walking robot movement
Typ
Článek recenzovaný mimo WoS a Scopus
Jazyk
cs
Originální abstrakt
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.
Anglický abstrakt
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.
Klíčová slova anglicky
Walking Robot, Gyro, Inclinometer, Stability Sensing
Vydáno
2004-09-23
Místo
Warsaw, Poland
ISSN
0033-2089
Ročník
2004
Číslo
8-9
Strany od–do
39–
Počet stran
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"
}