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"
}