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EVALUATING TERRAIN IRREGULARITY BY ROBOT POSTURE / PAVIRŠIAUS NETOLYGUMO VERTINIMAS PAGAL ROBOTO PADĖTĮ

2011; Vilnius Gediminas Technical University; Volume: 3; Issue: 1 Linguagem: Inglês

10.3846/mla.2011.020

2029-2341

Tomas Luneckas,

Advanced Measurement and Metrology Techniques

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.