Publication detail

The Use of Leg Landing Information for Walking Robot Control

HOUŠKA, P. EHRENBERGER, Z. BŘEZINA, T. SINGULE, V.

Czech title

The Use of Leg Landing Information for Walking Robot Control

English title

The Use of Leg Landing Information for Walking Robot Control

Type

conference paper

Language

cs

Original abstract

The leg design is described in the contribution. Some possibilities of leg control and requirements related to both sensor system of the leg and complete robot are assigned. The assessment of the force, coming from sensor system, by which the endpoint of the leg acts on the terrain is considerably important. The information about leg landing is necessary for robot control in non-regular terrain. If the landing sensor provides information about magnitude and orientation of landing force, the algorithm of obstacles avoidance could be efficiently implemented based partially on this information.

Czech abstract

The leg design is described in the contribution. Some possibilities of leg control and requirements related to both sensor system of the leg and complete robot are assigned. The assessment of the force, coming from sensor system, by which the endpoint of the leg acts on the terrain is considerably important. The information about leg landing is necessary for robot control in non-regular terrain. If the landing sensor provides information about magnitude and orientation of landing force, the algorithm of obstacles avoidance could be efficiently implemented based partially on this information.

English abstract

The leg design is described in the contribution. Some possibilities of leg control and requirements related to both sensor system of the leg and complete robot are assigned. The assessment of the force, coming from sensor system, by which the endpoint of the leg acts on the terrain is considerably important. The information about leg landing is necessary for robot control in non-regular terrain. If the landing sensor provides information about magnitude and orientation of landing force, the algorithm of obstacles avoidance could be efficiently implemented based partially on this information.

Keywords in English

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

RIV year

2003

Released

12.05.2003

Publisher

Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague

Location

Praha

ISBN

80-86246-18-3

Book

Engeneering Mechanics 2003

Edition number

1

Pages count

2

BIBTEX


@inproceedings{BUT7624,
  author="Pavel {Houška} and Zdeněk {Ehrenberger} and Tomáš {Březina} and Vladislav {Singule},
  title="The Use of Leg Landing Information for Walking Robot Control",
  booktitle="Engeneering Mechanics 2003",
  year="2003",
  month="May",
  publisher="Institute of Theoretical and Applied Mechanics, Academy of Sciences of the Czech Republic, Prague",
  address="Praha",
  isbn="80-86246-18-3"
}