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Open Access item A control architecture for humanitarian-demining legged robots

Authors:García Armada, Elena
Estremera, Joaquín
González de Santos, Pablo
Keywords:Control architectures, deliberative control, reactive control, legged robots, Humanitarian demining
Issue Date:2003
Publisher:Professional Engineering Publishing
Citation:International cnference on Climbing and Walking Robots (6º. 2003. Catania, Italia)
Series/Report no.:CLAWAR 2003
Abstract:The use of autonomous robots for humanitarian demining tasks is a promising solution. Among the different types of autonomous robots, walking robots exhibit significant advantages to negotiate uneven and unstructured terrain. However, the complete autonomous control of walking robots is still challenging. In this work, a hybrid reactive/deliberative control architecture is proposed for the autonomous control of a demining system composed of a hexapod walking robot and a scanning manipulator. This control architecture allows the control system to both plan global control and navigation strategies and react to unmodelled disturbances.
Publisher version (URL):http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1860584098,subjectCd-EE00.html
URI:http://hdl.handle.net/10261/8227
ISBN:1-86058-409-8
Appears in Collections:(IAI) Comunicaciones congresos

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