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- Title
ON PHYSICAL IDENTIFICATION OF WALKING ROBOTS CRITICAL POSITIONS.
- Authors
MIGDALOVICI, Marcel; VLADAREANU, Luige; POP, Nicolae; SECRIERU, Grigore; BARAN, Daniela; VLADEANU, Gabriela
- Abstract
The identification of walking robot critical position is one of the most problems that arise for the general case of walking robots evolution on uneven terrain. Our study begins with identification of critical position for particular case of waking robot leg physical and mathematical model that consists from two components leg namely the superior component leg with one extremity jointed to the body of the walking robot and another extremity jointed to inferior component leg in "knee joint". The inferior component leg has "base point" as an extremity of the component, in contact with terrain. The base point describes in our model an ellipse arc. The geometrical identification of walking robot leg critical position, where the sense of movement is changing, is described in our previous study. The physical identification of the critical position, distinct of geometrical identification, is analyzed in the paper on our concrete case of walking robot leg mathematical model. The evolution of the walking robot leg is assumed that respects the environment mathematical model defined also by us. Some aspects referred to environment's mathematical model are described in the first part of the exposure. The new directions of research, opened by our study in this area, are emphasized.
- Subjects
ROBOTS; MATHEMATICAL Modeling for the Life Sciences (Book); MATHEMATICAL models; DYNAMIC models; NONLINEAR dynamical systems
- Publication
Acta Electrotehnica, 2019, Vol 60, Issue 1/2, p143
- ISSN
1841-3323
- Publication type
Article