# Engineering Mechanics

Proceedings Vol. 10 (2004)

ENGINEERING MECHANICS 2004

NATIONAL CONFERENCE WITH INTERNATIONAL PARTICIPATION
May 10 – 13, 2004, Svratka, Czech Republic

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Editors: Igor Zolotarev and Alena Poživilová

ISBN 80-85918-88-9 (printed)
ISSN 1805-8248 (printed)
ISSN 1805-8256 (electronic)

list of papers scientific commitee

Control of dynamic stability of moving the four-legged walking robot

Houška P., Singule V., Březina T., Ehrenberger Z.
pages 117 - +8p., full text

Position of gravity centre of walking robot body is changed depending on individual legs position, velocity, acceleration and configuration of terrain during movement. Dependencies of position, velocity and acceleration legs may be determined from the kinematic and dynamic models of robot. Influence of terrain must be compensated through sensor system. Design of robot sensor system for determination of its slope is presented in this contribution.

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All papers were reviewed by members of the scientific committee.

# Engineering Mechanics

#test International Conference

Proceedings Vol. 10 (2004)

ENGINEERING MECHANICS 2004