Publication detail

Control and synchronization drive unit of leg of walking robot

HOUŠKA, P. BŘEZINA, T. SINGULE, V.

English title

Control and synchronization drive unit of leg of walking robot

Type

conference paper

Language

en

Original abstract

The contribution explores several approaches in control and synchronization of leg drives. It further deals with the selection of suitable trajectory for the movement of leg end point. Kinematics of walking robot leg movement is essentially influenced by used drive units and its control. The speed of leg endpoint relocation and amount of energy consumed in particular movements depends mainly on the drive control. Leg control is proposed in such way that the leg can be considered as independent mechatronic system

English abstract

The contribution explores several approaches in control and synchronization of leg drives. It further deals with the selection of suitable trajectory for the movement of leg end point. Kinematics of walking robot leg movement is essentially influenced by used drive units and its control. The speed of leg endpoint relocation and amount of energy consumed in particular movements depends mainly on the drive control. Leg control is proposed in such way that the leg can be considered as independent mechatronic system

Keywords in English

mechatronics, walking robots, pantographic leg, control system, tactile sensors

RIV year

2003

Released

24.03.2003

Publisher

Institute of Mechanics of Solids Faculty of Mechanical Engineering Brno University of Technologi

Location

Brno

ISBN

80-214-2312-9

Book

Mechtronics, Robotics and Biomechanics 2003

Edition number

1

Pages count

2

BIBTEX


@inproceedings{BUT7188,
  author="Pavel {Houška} and Tomáš {Březina} and Vladislav {Singule},
  title="Control and synchronization drive unit of leg of walking robot",
  booktitle="Mechtronics, Robotics and Biomechanics 2003",
  year="2003",
  month="March",
  publisher="Institute of Mechanics of Solids
Faculty of Mechanical Engineering
Brno University of Technologi",
  address="Brno",
  isbn="80-214-2312-9"
}