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Title: Gait parameter adaptation to environmental perturbations in quadrupedal robots
Authors: García Armada, Elena, Estremera, Joaquín, González de Santos, Pablo, Armada, Manuel
Keywords: Quadruped robot
Gait Adaptation
Dynamic stability margin
Issue Date: 2007
Publisher: World Scientific Publishing
Series/Report no.: CLAWAR 2007
Abstract: Quadrupedal robots working outdoors are very slow robots prone to tum- ble down in the presence of perturbations. This paper presents a novel gait- adaptation method that enables walking-machine gaits to autonomously adapt to environmental perturbations, including the slope of the terrain, by ¯nding the gait parameters that maximize robot's dynamic stability. Experiments with the SILO4 quadruped robot are presented and show how robot stability is more robust when the proposed approach is used for diferent external forces and sloping terrains.
ISBN: 13-978-270-815-1
Citation: International Conference on Climbing and Walking Robots (10º. 2007. Singapore)
Appears in Collections:(IAI) Comunicaciones congresos

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