FORCE SENSING AND CONTROL DURING MOVEMENT AND OBJECT MANIPULATION IN MERO WALKING ROBOTS

Walking robots are built to safely transport and assure a stable position of the technological equipment on-board the robot's platform on unarranged terrain and may have a lower or higher autonomy degree. To assure the stable position of the walking robots, they are equipped with transducers and sensors, necessary to determine the force distribution in the shifting mechanisms. For safe handling, position errors must be sensed and controlled through the movement of the finger grip attached to the technological installation. The paper analyzes two sensing and motion control devices in robotic systems and the complex sliding phenomenon that aims both robotic technological equipment (moving an object manipulated during the technological process) and walking robots (moving them in terms under conditions).