3 research outputs found
Controlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking
Summary. It is widespread the idea that animal legged locomotion improves
wheeled locomotion on very rough terrain. However, the use of legs as locomotion
system for vehicles and robots is still far away from competing with wheels
and trucks even on natural ground. Walking robots feature two main disadvantages.
One is the lack of reacting capabilities from external disturbances, and the other is
the very slow walking motion. Both obstacles prevent walking mechanisms from being
introduced in industrial processes and from being part of service and assistance
robotics. This paper is aimed at solving the two above obstacles by combining a dynamic
stability margin that quantifies the impact energy that a robot can withstand,
and either controlling a dynamic walk by means of active compliance, which helps
the robot react to disturbances. Experiments performed on the SILO4 quadruped robot show a relevant improvement on the walking gait.This work has been partially funded by CICYT (Spain) through Grant
DPI2004-05824. The first author is supported by a postdoctoral CSIC-I3P
contract granted by the European Social Fund.Peer reviewe
Controlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking
Summary. It is widespread the idea that animal legged locomotion improves
wheeled locomotion on very rough terrain. However, the use of legs as locomotion
system for vehicles and robots is still far away from competing with wheels
and trucks even on natural ground. Walking robots feature two main disadvantages.
One is the lack of reacting capabilities from external disturbances, and the other is
the very slow walking motion. Both obstacles prevent walking mechanisms from being
introduced in industrial processes and from being part of service and assistance
robotics. This paper is aimed at solving the two above obstacles by combining a dynamic
stability margin that quantifies the impact energy that a robot can withstand,
and either controlling a dynamic walk by means of active compliance, which helps
the robot react to disturbances. Experiments performed on the SILO4 quadruped robot show a relevant improvement on the walking gait.This work has been partially funded by CICYT (Spain) through Grant
DPI2004-05824. The first author is supported by a postdoctoral CSIC-I3P
contract granted by the European Social Fund.Peer reviewe
Modelado de sensores piezoresistivos y uso de una interfaz basada en guantes de datos para el control de impedancia de manipuladores robóticos
Tesis inédita de la Universidad Complutense de Madrid, Facultad de Ciencias Físicas, Departamento de Arquitectura de Computadores y Automática, leída el 21-02-2014Sección Deptal. de Arquitectura de Computadores y Automática (Físicas)Fac. de Ciencias FísicasTRUEunpu