Collision states detection for quadruped robot motion

Abstract eng:
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 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.

• Export as: BibTeX | MARC | MARCXML | DC | EndNote | NLM | RefWorks
• Add to your basket