Original title: Control and synchronization drive unit of leg of walking robot
Authors: Houška, P. ; Březina, Tomáš ; Singule, V.
Document type: Papers
Conference/Event: Mechtronics, Robotics and Biomechanics 2003, Hrotovice (CZ), 2003-03-24 / 2003-03-27
Year: 2003
Language: eng
Abstract: The contribution explores several approaches in control and synchronization of leg drives. It further deals with the selection of suitable trajectory for the movement of leg end point. Kinematics of walking robot leg movement is essentially influenced by used drive units and its control. The speed of leg endpoint relocation and amount of energy consumed in particular movements depends mainly on the drive control. Leg control is proposed in such way that the leg can be considered as independent system.
Keywords: drive control; robot control
Project no.: CEZ:AV0Z2076919 (CEP)
Host item entry: Mechtronics, robotics and biomechanics 2003 : proceedings, ISBN 80-214-2312-9

Institution: Institute of Thermomechanics AS ČR (web)
Document availability information: Fulltext is available at the institute of the Academy of Sciences.
Original record: http://hdl.handle.net/11104/0108033

Permalink: http://www.nusl.cz/ntk/nusl-31607


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Research > Institutes ASCR > Institute of Thermomechanics
Conference materials > Papers