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"
}