Publication detail
THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT - LEG LANDING SENSOR
HOUŠKA, P. MARADA, T. SINGULE, V. EHRENBERGER, Z.
Czech title
Řízení polohy základny kráčivého robotu - snímač došlapu
English title
THE CONTROL OF PLATFORM POSITION OF WALKING ROBOT - LEG LANDING SENSOR
Type
journal article - other
Language
en
Original abstract
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.
Czech abstract
Snímání polohy těla kráčivého robotu lze rozdělit na několik problematik. Zde jsou popsány dvě, podle našeho názoru nejvýznamnějšími problematiky pro snímání polohy těla robotu. První problematika je měření odklonu těla robotu od osy gravitačního zrychlení, dále jen odklonu. Druhá problematika se zabývá určováním vzdálenosti těla robotu od terénu. Ta využívá přibližného určování vektoru síly došlapu jednotlivých noh a následného vyhodnocení poloh konců noh pomocí dopředné kinematiky při znalosti geometrie noh a poloh jednotlivých pohonů noh.
English abstract
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.
Keywords in English
Walking robots, leg landing, platform position of the walking robot
RIV year
2005
Released
20.09.2005
Publisher
Academy of Sciences of the Czech Republic
Location
Brno, CZ
ISSN
1210-2717
Journal
Inženýrská mechanika - Engineering Mechanics
Volume
12
Number
a1
Edition number
1
Pages count
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",
month="September",
publisher="Academy of Sciences of the Czech Republic",
address="Brno, CZ",
issn="1210-2717"
}