Control of dynamic stability of moving the four-legged walking robot
Abstract eng: Position of gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during movement. Dependencies of position, velocity and acceleration legs may be determined from the kinematic and dynamic models of robot. Influence of terrain must be compensated through sensor system. Design of robot sensor system for determination of its slope is presented in this contribution.
Contributors:
Publisher:
Institute of Thermomechanics AS CR, v.v.i., Prague
Conference Title:
Conference Title:
Engineering Mechanics 2004
Conference Venue:
Svratka (CZ)
Conference Dates:
2004-05-10 / 2004-05-13
Rights:
Text je chráněný podle autorského zákona č. 121/2000 Sb.
Record appears in:
Record created 2014-11-14, last modified 2014-11-18
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