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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing InTech
A. Schneider; U. Schmucker.
The control system algorithms and their technical realization for the robots "Masha" and "Katharina" are described in (Schmucker et al., 1996; Schmucker, 2002). Each leg of "Katharina" has its own controller based on a microcontroller INTEL 87C196KR which only controls the respective leg. The controller includes the CPU, FLASH-memory and RAM, a PWM output unit (PWM-U), analog input unit (AIU) and a synchronous serial communication unit (SSCU) on the chip. All microcontroller units are connected by a synchronous serial bus.
Tipo: 23 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments_part_1__overview_and_force_sen
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Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 2: Force Control of Legged Vehicles InTech
A. Schneider; U. Schmucker.
Initial research began at the Institute of Mechanics together with the Institute for Problems of Information Transmission (Moscow) at the initiative of Professors D.E. Okhotsimsky, V.S. Gurfinkel, members of the Russian Academy of Sciences and Professor E.A. Devjanin. Research is continuing at the Fraunhofer Institute for Factory Operation and Automation (IFF, Magdeburg) and is being supported by the Germany Research Foundation DFG. We would like to express special thanks to Professor D. M. Gorinevsky, together with whom the basic results of the force distribution algorithms have been achieved and also Professors A. Formalsky, and Yu. Golubev. The author is deeply grateful to Doctors A. Lensky, E. Gurfinkel and L. Shtilman.
Tipo: 24 Palavras-chave: Mobile Robotics; Moving Intelligence.
Ano: 2006 URL: http://www.intechopen.com/articles/show/title/force_sensing_for_multi-legged_walking_robots__theory_and_experiments__part_2__force_control_of_legg
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