Sensing of the platform position of the walking robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F04%3APU45507" target="_blank" >RIV/00216305:26210/04:PU45507 - isvavai.cz</a>

Result on the web

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DOI - Digital Object Identifier

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Result language

angličtina

Original language name

Sensing of the platform position of the walking robot

Original language description

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 landingg 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.

Czech name

Sensing of the platform position of the walking robot

Czech description

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 landingg 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.

Type

D - Article in proceedings

CEP classification

JD - Use of computers, robotics and its application

OECD FORD branch

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Project

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Continuities

Z - Vyzkumny zamer (s odkazem do CEZ)

Publication year

2004

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Article name in the collection

3rd Internatiomal Congress on Mechatronics MECH2K4

ISBN

ISBN 80-01-0308

ISSN

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e-ISSN

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Number of pages

9

Pages from-to

276-284

Publisher name

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

Place of publication

Praha

Event location

Praha

Event date

Jul 7, 2004

Type of event by nationality

WRD - Celosvětová akce

UT code for WoS article

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