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dc.contributor.authorGarcía Armada, Elena-
dc.contributor.authorGonzález de Santos, Pablo-
dc.date.accessioned2008-10-17T11:07:51Z-
dc.date.available2008-10-17T11:07:51Z-
dc.date.issued2006-12-
dc.identifier.citationIEEE Transactions on Robotics, 22(6):1240-1253 (2006)en_US
dc.identifier.issn1552-3098-
dc.identifier.urihttp://hdl.handle.net/10261/7869-
dc.description.abstractIt 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.sponsorshipThis 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.extent702338 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherInstitute of Electrical and Electronics Engineersen_US
dc.relationS2009/DPI-1559/ROBOCITY2030-II-
dc.rightsopenAccessen_US
dc.subjectCompliance controlen_US
dc.subjectGait adaptationen_US
dc.subjectLegged locomotionen_US
dc.subjectStability criteriaen_US
dc.titleOn the Improvement of Walking Performance in Natural Environments by a Compliant Adaptive Gaiten_US
dc.typeartículoes
dc.identifier.doi10.1109/TRO.2006.884343-
dc.description.peerreviewedPeer revieweden_US
dc.relation.publisherversionhttp://dx.doi.org/10.1109/TRO.2006.884343en_US
dc.type.coarhttp://purl.org/coar/resource_type/c_6501es_ES
item.openairetypeartículo-
item.cerifentitytypePublications-
item.languageiso639-1en-
item.grantfulltextopen-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
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