Evaluating Terrain Irregularity by Robot Posture
Journal Title: Mokslas – Lietuvos ateitis - Year 2011, Vol 3, Issue 1
Abstract
A method that allows evaluate the terrain irregularity by a robot posture is presented in this paper. A necessity to evaluate terrain irregularity is pointed out. Description of irregular terrain is given. A possibility to evaluate terrain irregularity by feet coordinate standard deviation is proposed. When deviation is σ = 0, all robots are in one plane. Bigger σ the more robot legs are scattered, meaning robot is walking in irregular terrain. A method to evaluate robot horizontality according to terrain by position of three planes is introduced. Article in Lithuanian
Authors and Affiliations
Tomas Luneckas
Keywords
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- EP ID EP85798
- DOI 10.3846/mla.2011.020
- Views 84
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