English   español  
Por favor, use este identificador para citar o enlazar a este item: http://hdl.handle.net/10261/7869
COMPARTIR / IMPACTO:
Estadísticas
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
Exportar a otros formatos:
Título

On the Improvement of Walking Performance in Natural Environments by a Compliant Adaptive Gait

AutorGarcía Armada, Elena ; González de Santos, Pablo
Palabras claveCompliance control
Gait adaptation
Legged locomotion
Stability criteria
Fecha de publicacióndic-2006
EditorInstitute of Electrical and Electronics Engineers
CitaciónIEEE Transactions on Robotics, 22(6):1240-1253 (2006)
ResumenIt is a widespread idea that animal-legged locomotion is better than wheeled locomotion on natural rough terrain. However, the use of legs as a locomotion system for vehicles and robots still has a long way to go before it can compete with wheels and trucks, even on natural ground. This paper aims to solve two main disadvantages plaguing walking robots: their inability to react to external disturbances (which is also a drawback of wheeled robots); and their extreme slowness. Both problems are reduced here by combining: 1) a gait-parameter-adaptation method that maximizes a dynamic energy stability margin and 2) an active-compliance controller with a new term that compensates for stability variations, thus helping the robot react stably in the face of disturbances. As a result, the combined gait-adaptation approach helps the robot achieve faster, more stable compliant motions than conventional controllers. Experiments performed with the SILO4 quadruped robot show a relevant improvement in the walking gait.
Versión del editorhttp://dx.doi.org/10.1109/TRO.2006.884343
URIhttp://hdl.handle.net/10261/7869
DOI10.1109/TRO.2006.884343
ISSN1552-3098
Aparece en las colecciones: (IAI) Artículos
Ficheros en este ítem:
Fichero Descripción Tamaño Formato  
on-the-improvement.pdf685,88 kBAdobe PDFVista previa
Visualizar/Abrir
Mostrar el registro completo
 

Artículos relacionados:


NOTA: Los ítems de Digital.CSIC están protegidos por copyright, con todos los derechos reservados, a menos que se indique lo contrario.