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Continuous free-crab gaits for hexapod robots on a natural terrain with forbidden zones: An application to humanitarian demining

AuthorsEstremera, Joaquín; Cobano, José A.; González de Santos, Pablo
KeywordsWalking robots
Legged robots
Gait generation
Gait planning
Issue DateMay-2010
CitationRobotics and Autonomous Systems 58 (5): 700-711 (2010)
AbstractAutonomous 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.
Publisher version (URL)http://dx.doi.org/10.1016/j.robot.2009.11.004
Appears in Collections:(IAI) Artículos
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