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Sechsbeiniger kraftadaptiver Schreitroboter

 
: Schmucker, U.; Schneider, A.; Ihme, T.

:
Fulltext urn:nbn:de:0011-px-329902 (329 KByte PDF)
MD5 Fingerprint: cdb727d49dce4c67dbcc7ab47400082b
Created on: 04.10.1999


FH Brandenburg:
2. Brandenburger Workshop Mechatronik 1996
Brandenburg, 1996
Brandenburger Workshop Mechatronik <2, 1996, Brandenburg>
German
Conference Paper, Electronic Publication
Fraunhofer IFF ()
active accommodation; active compliance; aktive Dämpfung; aktive Nachgiebigkeit; force control; force sensor; Kraftregelung; Kraftsensor; Schreitroboter; walking robot

Abstract
New results on the development of an adaptive six-legged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about foot force reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force control are considered.

: http://publica.fraunhofer.de/documents/PX-32990.html