English   español  
Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/129625
Share/Impact:
Statistics
logo share SHARE logo core CORE   Add this article to your Mendeley library MendeleyBASE

Visualizar otros formatos: MARC | Dublin Core | RDF | ORE | MODS | METS | DIDL | DATACITE
Exportar a otros formatos:

DC FieldValueLanguage
dc.contributor.authorArévalo Reggeti, Juan Carlos R.-
dc.contributor.authorSanz Merodio, Daniel-
dc.contributor.authorCestari, Manuel-
dc.contributor.authorGarcía Armada, Elena-
dc.date.issued2015-
dc.identifierdoi: 10.5772/59888-
dc.identifierissn: 1729-8814-
dc.identifier.citationInternational Journal of Advanced Robotic Systems 12 (2015)-
dc.identifier.uri10261/129625-
dc.description.abstract© The Author(s). To date, running robots are still outperformed by animals, but their dynamic behaviour can be described by the same model. This coincidence means that biomechanical studies can reveal much about the adaptability and energy efficiency of walking mechanisms. In particular, animals adjust their leg stiffness to negotiate terrains with different stiffnesses to keep the total leg-ground stiffness constant. In this work, we aim to provide one method to identify ground-robot impedance so that control can be applied to emulate the aforementioned animal behaviour. Experimental results of the method are presented, showing well-differentiated estimations on four different types of terrain. Additionally, an analysis of the convergence time is presented and compared with the contact time of humans while running, indicating that the method is suitable for use at high speeds.-
dc.description.sponsorshipThis work was partially funded by the Spanish National Plan for Research, Development and Innovation through grant DPI2013-40504-R. Mr. Juan Carlos Arevalo and Mr. Manuel Cestari would like to thank the Spanish National Research Council and the Spanish Ministry of Economy and Competitiveness for funding their PhD research.-
dc.publisherInTech-
dc.relationMINECO/DPI2013-2016/40504-R-
dc.relation.isversionofPublisher's version-
dc.rightsopenAccess-
dc.subjectRunning robot-
dc.subjectAdaptability-
dc.subjectGround-robot impedance-
dc.titleIdentifying ground-robot impedance to improve terrain adaptability in running robots-
dc.typeartículo-
dc.identifier.doihttp://dx.doi.org/10.5772/59888-
dc.date.updated2016-03-01T13:12:13Z-
dc.description.versionPeer Reviewed-
dc.language.rfc3066eng-
dc.rights.licensehttp://creativecommons.org/licenses/by/3.0-
dc.contributor.funderMinisterio de Economía y Competitividad (España)-
dc.relation.csic-
dc.identifier.funderhttp://dx.doi.org/10.13039/501100003329es_ES
Appears in Collections:(CAR) Artículos
Files in This Item:
File Description SizeFormat 
Arevalo_Identifying_Ground_Int_J_Adv_Robot_Syst_2015.pdf1,18 MBAdobe PDFThumbnail
View/Open
Show simple item record
 


WARNING: Items in Digital.CSIC are protected by copyright, with all rights reserved, unless otherwise indicated.