2024-03-28T08:30:24Zhttp://digital.csic.es/dspace-oai/requestoai:digital.csic.es:10261/373302021-06-11T13:05:39Zcom_10261_96com_10261_4col_10261_349
Estremera, Joaquín
Cobano, José A.
González de Santos, Pablo
2011-06-30T08:42:57Z
2011-06-30T08:42:57Z
2010-05
Robotics and Autonomous Systems 58 (5): 700-711 (2010)
http://hdl.handle.net/10261/37330
10.1016/j.robot.2009.11.004
Autonomous robots are leaving the laboratories to master new outdoor applications, and walking robots in particular have already shown their potential advantages in these environments, especially on a natural terrain. Gait generation is the key to success in the negotiation of natural terrain with legged robots; however, most of the algorithms devised for hexapods have been tested under laboratory conditions. This paper presents the development of crab and turning gaits for hexapod robots on a natural terrain characterized by containing uneven ground and forbidden zones. The gaits we have developed rely on two empirical rules that derive three control modules that have been tested both under simulation and by experiment. The geometrical model of the SILO-6 walking robot has been used for simulation purposes, while the real SILO-6 walking robot has been used in the experiments. This robot was built as a mobile platform for a sensory system to detect and locate antipersonnel landmines in humanitarian demining missions.
eng
openAccess
Walking robots
Legged robots
Gait generation
Gait planning
Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining
artículo