Please use this identifier to cite or link to this item: http://hdl.handle.net/10261/7950
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dc.contributor.authorGarcía Armada, Elena-
dc.contributor.authorEstremera, Joaquín-
dc.contributor.authorGonzález de Santos, Pablo-
dc.contributor.authorArmada, Manuel-
dc.date.accessioned2008-10-22T11:51:27Z-
dc.date.available2008-10-22T11:51:27Z-
dc.date.issued2007-
dc.identifier.citationInternational Conference on Climbing and Walking Robots (10º. 2007. Singapore)en_US
dc.identifier.isbn13-978-270-815-1-
dc.identifier.isbn10-981-270-815-4-
dc.identifier.urihttp://hdl.handle.net/10261/7950-
dc.description.abstractQuadrupedal robots working outdoors are very slow robots prone to tum- ble down in the presence of perturbations. This paper presents a novel gait- adaptation method that enables walking-machine gaits to autonomously adapt to environmental perturbations, including the slope of the terrain, by ¯nding the gait parameters that maximize robot's dynamic stability. Experiments with the SILO4 quadruped robot are presented and show how robot stability is more robust when the proposed approach is used for diferent external forces and sloping terrains.en_US
dc.format.extent482844 bytes-
dc.format.mimetypeapplication/pdf-
dc.language.isoengen_US
dc.publisherWorld Scientific Publishingen_US
dc.relation.ispartofseriesCLAWAR 2007en_US
dc.rightsopenAccessen_US
dc.subjectQuadruped roboten_US
dc.subjectGait Adaptationen_US
dc.subjectDynamic stability marginen_US
dc.titleGait parameter adaptation to environmental perturbations in quadrupedal robotsen_US
dc.typecomunicación de congresoen_US
dc.description.peerreviewedPeer revieweden_US
item.grantfulltextopen-
item.cerifentitytypePublications-
item.openairetypecomunicación de congreso-
item.languageiso639-1en-
item.openairecristypehttp://purl.org/coar/resource_type/c_18cf-
item.fulltextWith Fulltext-
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