Detail publikace

Sensing of the platform position of the walking robot

HOUŠKA, P. KOPINEC, M. LIŠKA, M. SINGULE, V.

Český název

Sensing of the platform position of the walking robot

Anglický název

Sensing of the platform position of the walking robot

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

en

Originální abstrakt

Determination of the platform position of the walking robot can be divided into several issues. Two most significant issues, according to our opinion, for the robot platform position are described in this contribution. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. Measurement of the distance between robot platform and terrain constitutes the second issue. It works on the 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.

Český abstrakt

Determination of the platform position of the walking robot can be divided into several issues. Two most significant issues, according to our opinion, for the robot platform position are described in this contribution. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. Measurement of the distance between robot platform and terrain constitutes the second issue. It works on the 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.

Anglický abstrakt

Determination of the platform position of the walking robot can be divided into several issues. Two most significant issues, according to our opinion, for the robot platform position are described in this contribution. First issue corresponds to measuring of the robot platform attitude with respect to the direction of gravity acceleration – attitude in abbreviation. Measurement of the distance between robot platform and terrain constitutes the second issue. It works on the 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.

Klíčová slova česky

Walking robots, Inclinometer, Gyro, Leg Landing

Klíčová slova anglicky

Walking robots, Inclinometer, Gyro, Leg Landing

Rok RIV

2004

Vydáno

07.07.2004

Nakladatel

Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic

Místo

Praha

ISBN

80-01-03088-1

Kniha

3rd Internatiomal Congress on Mechatronics MECH2K4

Číslo edice

1

Počet stran

9

BIBTEX


@inproceedings{BUT12297,
  author="Pavel {Houška} and Milan {Kopinec} and Martin {Liška} and Vladislav {Singule},
  title="Sensing of the platform position of the walking robot",
  booktitle="3rd Internatiomal Congress on Mechatronics MECH2K4",
  year="2004",
  month="July",
  publisher="Czech Technical University in Prague , Faculty of Mechanical Engineering Prague, Czech Republic",
  address="Praha",
  isbn="80-01-03088-1"
}