Detail publikace

Control of dynamic stability of the four-legged walking robot movement

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

Český název

Control of dynamic stability of the four-legged walking robot movement

Anglický název

Control of dynamic stability of the four-legged walking robot movement

Typ

článek v časopise - ostatní, Jost

Jazyk

cs

Originální abstrakt

The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.

Český abstrakt

The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.

Anglický abstrakt

The position of the gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during the movement. Dependencies of position, velocity and acceleration of legs may be determined from the kinematic and dynamic models of the robot. The influence of terrain must be compensated through sensor system. The design of robot sensor system for determination of its slope is presented in this contribution.

Klíčová slova anglicky

Walking Robot, Gyro, Inclinometer, Stability Sensing

Rok RIV

2004

Vydáno

23.09.2004

Místo

Warsaw, Poland

ISSN

0033-2089

Časopis

Elektronika

Ročník

2004

Číslo

8-9

Počet stran

3

BIBTEX


@article{BUT45409,
  author="Pavel {Houška} and Vladislav {Singule} and Tomáš {Březina} and Zdeněk {Ehrenberger},
  title="Control of dynamic stability of the four-legged walking robot movement",
  journal="Elektronika",
  year="2004",
  volume="2004",
  number="8-9",
  month="September",
  address="Warsaw, Poland",
  issn="0033-2089"
}