Detail publikace
THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT – LEG LANDING SENSOR
HOUŠKA, P. MARADA, T. SINGULE, V. EHRENBERGER, Z.
Anglický název
THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT – LEG LANDING SENSOR
Typ
Článek recenzovaný mimo WoS a Scopus
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.
Klíčová slova anglicky
Walking robots, leg landing, platform position of the walking robot
Vydáno
2005-09-20
Nakladatel
Academy of Sciences of the Czech Republic
Místo
Brno, CZ
ISSN
1210-2717
Ročník
12
Číslo
a1
Strany od–do
31–
Počet stran
6
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",
journal="Inženýrská mechanika - Engineering Mechanics",
year="2005",
volume="12",
number="a1",
pages="6",
issn="1210-2717"
}