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dc.contributor.authorGonzález de Santos, Pablo-
dc.contributor.authorGarcía Armada, Elena-
dc.contributor.authorEstremera, Joaquín-
dc.date.accessioned2008-02-08T17:38:32Z-
dc.date.available2008-02-08T17:38:32Z-
dc.date.issued2007-08-01-
dc.identifier.citationAutonomous Robots, Vol. 23, N. 4, pp. 247-258, 2007.en_US
dc.identifier.citationhttp://dx.doi.org/10.1007/s10514-007-9045-8en_US
dc.identifier.issn0929-5593-
dc.identifier.urihttp://hdl.handle.net/10261/2904-
dc.description.abstractWalking-robot technology has already achieved an important stage of development, as demonstrated in a few real applications. However, walking robots still need further improvement if they are to compete with traditional vehicles. A potential improvement could be made through optimization at design time. A better distribution of the legs around a robot’s body can help decrease actuator size in the design procedure and reduce power consumption during walking as well, which is of vital importance in autonomous robots. This paper, thus, presents a method focused on the distribution of legs around the body to decrease maximum foot forces against the ground, which play heavily in determining robot shape and actuator size. Some experiments have been performed with the SILO6 walking robot to validate the theoretical results.en_US
dc.description.sponsorshipThe authors would like to acknowledge the financial support of the Spanish Ministry of Education and Science through Grant DPI2004-05824.en_US
dc.format.extent22195 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherSpringeren_US
dc.rightsopenAccessen_US
dc.subjectEnergy efficiencyen_US
dc.subjectLegged locomotionen_US
dc.subjectMobile robotsen_US
dc.subjectOptimization methodsen_US
dc.titleImproving walking-robot performances by optimizing leg distributionen_US
dc.typeArtículoen_US
dc.identifier.doi10.1007/s10514-007-9045-8-
dc.description.peerreviewedPeer revieweden_US
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