000004027 001__ 4027
000004027 005__ 20141118153338.0
000004027 04107 $$acze
000004027 046__ $$k2004-05-10
000004027 100__ $$aChmelíček, J.
000004027 24500 $$aCollision states detection for quadruped robot motion

000004027 24630 $$n10.$$pEngineering Mechanics 2004
000004027 260__ $$bInstitute of Thermomechanics AS CR, v.v.i., Prague
000004027 506__ $$arestricted
000004027 520__ $$2eng$$aDetection 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 substitution 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 implemented in robot driving system. This function than protect robots construction against damage, overloading of actuators and stability of robot movement. Goal of this article is description of some solutions of this problem, including charakterization of our solution.

000004027 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000004027 653__ $$a

000004027 7112_ $$aEngineering Mechanics 2004$$cSvratka (CZ)$$d2004-05-10 / 2004-05-13$$gEM2004
000004027 720__ $$aChmelíček, J.$$iŠvehlák, M.$$iBezdíček, M.$$iGrepl, R.
000004027 8560_ $$ffischerc@itam.cas.cz
000004027 8564_ $$s487766$$uhttps://invenio.itam.cas.cz/record/4027/files/T-Chmelicek-Jaroslav.pdf$$y
             Original version of the author's contribution as presented on CD, .
            
000004027 962__ $$r4009
000004027 980__ $$aPAPER