Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/8227
Título : A control architecture for humanitarian-demining legged robots
Autor : García Armada, Elena, Estremera, Joaquín, González de Santos, Pablo
Palabras clave : Control architectures
deliberative control
reactive control
legged robots
Humanitarian demining
Fecha de publicación : 2003
Editor: Professional Engineering Publishing
Citación : International cnference on Climbing and Walking Robots (6º. 2003. Catania, Italia)
Citación : CLAWAR 2003
Resumen: 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.
Versión del editor: http://eu.wiley.com/WileyCDA/WileyTitle/productCd-1860584098,subjectCd-EE00.html
URI : http://hdl.handle.net/10261/8227
ISBN : 1-86058-409-8
Citación : International cnference on Climbing and Walking Robots (6º. 2003. Catania, Italia)
Appears in Collections:(IAI) Comunicaciones congresos

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