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InTech-Climbing and walking robots towards new applications Part 2

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Tham khảo tài liệu 'intech-climbing and walking robots towards new applications part 2', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 30 Climbing Walking Robots Towards New Applications Step 5. Repeat steps 2 4 . This method is characterized by using the moved distance over the trajectory as a parameter for representing the trajectory in an inertial reference frame as shown in Fig. 8 so that the position of the segments center sseg can be tracked in a numerical fashion by iteratively searching for the sseg that satisfies the geometrical constraint between the segments i.e. the intersegment length L is constant . Here are the details of each step. 1 Initial Trajectory Generation At the time the robot is powered-on the trajectory between the last segment and the foremost segment is unknown. Therefore the robot cannot initiate the steering motion because segments no. 1 to 6 does not have a trajectory to follow. This trajectory can be estimated by interpolating the segments center position at initialization time. For instance a cubic spline interpolation function was implemented in the actual KR-II control. 2 Trajectory Update In case a trajectory is specified a priori or it is generated by an autonomous path planning algorithm this step simply updates the position of the foremost segment s0 over the known trajectory. However as we assume that a human operator is manually maneuvering the robot the trajectory must be calculated online. The natural choice is an odometric approach. This method calculates both the new position at time t At by estimating the moved distance and the new orientation of the foremost segment from time t to t At. Let v0m t be the actual velocity of the foremost segment measured from the wheel rotation velocity the distance moved during the interval of one sampling time At is estimated by v0m t At. 3 Next from the measured bending angle of the foremost segment 60m t and the segment vector orientation of the segment no. 1 0.Ợ the foremost wheel heading orientation at time t At is estimated as follow. 0 0 t At 01 t - . t 4 With and 00 t At estimated from real measurements the .