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Campo DC | Valor | Lengua/Idioma |
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dc.contributor.author | García Armada, Elena | - |
dc.contributor.author | González de Santos, Pablo | - |
dc.date.accessioned | 2008-10-17T11:07:51Z | - |
dc.date.available | 2008-10-17T11:07:51Z | - |
dc.date.issued | 2006-12 | - |
dc.identifier.citation | IEEE Transactions on Robotics, 22(6):1240-1253 (2006) | en_US |
dc.identifier.issn | 1552-3098 | - |
dc.identifier.uri | http://hdl.handle.net/10261/7869 | - |
dc.description.abstract | It 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. | en_US |
dc.description.sponsorship | This work was supported by the Spanish Ministry of Education and Science under Grant DPI2004-05824. The work of E. Garcia was supported by the European Social Fund under Postdoctoral Contract CSIC-I3P. | en_US |
dc.format.extent | 702338 bytes | - |
dc.format.mimetype | application/pdf | - |
dc.language.iso | eng | en_US |
dc.publisher | Institute of Electrical and Electronics Engineers | en_US |
dc.relation | S2009/DPI-1559/ROBOCITY2030-II | - |
dc.rights | openAccess | en_US |
dc.subject | Compliance control | en_US |
dc.subject | Gait adaptation | en_US |
dc.subject | Legged locomotion | en_US |
dc.subject | Stability criteria | en_US |
dc.title | On the Improvement of Walking Performance in Natural Environments by a Compliant Adaptive Gait | en_US |
dc.type | artículo | es |
dc.identifier.doi | 10.1109/TRO.2006.884343 | - |
dc.description.peerreviewed | Peer reviewed | en_US |
dc.relation.publisherversion | http://dx.doi.org/10.1109/TRO.2006.884343 | en_US |
dc.type.coar | http://purl.org/coar/resource_type/c_6501 | es_ES |
item.openairetype | artículo | - |
item.cerifentitytype | Publications | - |
item.languageiso639-1 | en | - |
item.grantfulltext | open | - |
item.openairecristype | http://purl.org/coar/resource_type/c_18cf | - |
item.fulltext | With Fulltext | - |
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on-the-improvement.pdf | 685,88 kB | Adobe PDF | Visualizar/Abrir |
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