Detekce kolizních stavů při pohybu čtyřnohého robotu

Collision States Detection For Quadruped Robot Motion

conference paper

en

Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.

Detekce kolizních stavů jednotlivých částí robotu je základním problémem, který musí být při návrhu řídících algoritmů řešen. V článku je popsán přístup k řešení tohoto problému.

Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.

walking robot, collision detection

2004

01.01.2004

Svratka

80-85918-88-9

Engineering Mechanics

126