Science – Future of Lithuania / Mokslas – Lietuvos Ateitis, Vol 3, No 1 (2011)

Evaluating Terrain Irregularity by Robot Posture

Tomas Luneckas


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

Article in: Lithuanian

Article published: 2011-08-22

Keyword(s): hexapod robot; terrain evaluation; feet coordinate deviation; angle between three planes

DOI: 10.3846/mla.2011.020

Full Text: PDF pdf

Science – Future of Lithuania / Mokslas – Lietuvos Ateitis ISSN 2029-2341, eISSN 2029-2252
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