| dc.contributor.author | Luneckas, Tomas | |
| dc.contributor.author | Udris, Dainius | |
| dc.date.accessioned | 2023-09-18T17:42:13Z | |
| dc.date.available | 2023-09-18T17:42:13Z | |
| dc.date.issued | 2009 | |
| dc.identifier.issn | 1822-5934 | |
| dc.identifier.other | (BIS)VGT02-000020181 | |
| dc.identifier.uri | https://etalpykla.vilniustech.lt/handle/123456789/125100 | |
| dc.description.abstract | Hexapod robot moving through irregular terrain must adapt it's locomotion in order to sustain stable and fast movement. Chosen gaits and control methods have to vouch an optimal leg positioning and coordination. An inverse kinematics method is introduced for positioning legs to a needed point. Means of leg contact with ground indications using tactile sensors are discussed and their influence to robot control is discussed. Simple obstacle detection method using IR sensors is presented. Aim is to adapt all these methods into a real-time control system. | eng |
| dc.format.extent | p. 40-43 | |
| dc.format.medium | tekstas / txt | |
| dc.language.iso | eng | |
| dc.relation.isreferencedby | Conference Proceedings Citation Index - Science (Web of Science) | |
| dc.title | Optimization of hexapod robot locomotion | |
| dc.type | Straipsnis konferencijos darbų leidinyje Web of Science DB / Paper in conference publication in Web of Science DB | |
| dcterms.accessRights | IDS Number: BPX65 | |
| dcterms.references | 3 | |
| dc.type.pubtype | P1a - Straipsnis konferencijos darbų leidinyje Web of Science DB / Article in conference proceedings Web of Science DB | |
| dc.contributor.institution | Vilniaus Gedimino technikos universitetas | |
| dc.contributor.faculty | Elektronikos fakultetas / Faculty of Electronics | |
| dc.subject.researchfield | T 001 - Elektros ir elektronikos inžinerija / Electrical and electronic engineering | |
| dc.subject.en | Hexapod robot | |
| dc.subject.en | Inverse kinematics | |
| dc.subject.en | Denavit-Hartenberg method | |
| dc.subject.en | IR sensors | |
| dc.subject.en | Tactile sensors | |
| dc.subject.en | Obstacle detection | |
| dcterms.sourcetitle | ECT - 2009: proceedings of the 4th international conference on electrical and control technologies, May 7-8, 2009, Kaunas, Lithuania / Kaunas University of Technology, IFAC Committee of National Lithuanian Organisation, Lithuanian Electricity Association, Full Member Of EURELECTRIC | |
| dc.publisher.name | Technologija | |
| dc.publisher.city | Kaunas | |
| dc.identifier.doi | 000280250900008 | |
| dc.identifier.elaba | 3890565 | |
