Detail publikace
Detekce kolizních stavů při pohybu čtyřnohého robotu
CHMELÍČEK, J. GREPL, R. BEZDÍČEK, M. ŠVEHLÁK, M.
Český název
Detekce kolizních stavů při pohybu čtyřnohého robotu
Anglický název
Collision States Detection For Quadruped Robot Motion
Typ
článek ve sborníku ve WoS nebo Scopus
Jazyk
en
Originální abstrakt
Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.
Český abstrakt
Detekce kolizních stavů jednotlivých částí robotu je základním problémem, který musí být při návrhu řídících algoritmů řešen. V článku je popsán přístup k řešení tohoto problému.
Anglický abstrakt
Detection of collision states among single parts of robot strucure is essential problem, that is necessary to solve at robot movement in virtual space, in mathematical models based on substitutes of real structures by rigid bodies and above all at robot safe movement. Last introduced case is important especially at robot driving, where collision detection algorithm serve as backward verification before moment, when robot take newly computed position. Detection algorithm in this case hold important function, which is part of robot driving system. This function than watch damage of construction, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of solution of our given problem.
Klíčová slova anglicky
walking robot, collision detection
Rok RIV
2004
Vydáno
01.01.2004
Místo
Svratka
ISBN
80-85918-88-9
Kniha
Engineering Mechanics
Počet stran
126
BIBTEX
@inproceedings{BUT12231,
author="Jaroslav {Chmelíček} and Robert {Grepl} and Milan {Bezdíček} and Michal {Švehlák},
title="Collision States Detection For Quadruped Robot Motion",
booktitle="Engineering Mechanics",
year="2004",
month="January",
address="Svratka",
isbn="80-85918-88-9"
}