Publication detail

Sensing of the platform position of the walking robot

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

Czech title

Sensing of the platform position of the walking robot

English title

Sensing of the platform position of the walking robot

Type

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.

Czech 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.

English 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 Czech

Walking robots, Inclinometer, Gyro, Leg Landing

Keywords in English

Walking robots, Inclinometer, Gyro, Leg Landing

RIV year

2004

Released

07.07.2004

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

Edition number

1

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",
  month="July",
  publisher="Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic",
  address="Praha",
  isbn="80-01-03088-1"
}