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Controlling Dynamic Stability and Active Compliance to Improve Quadrupedal Walking

AuthorsGarcía Armada, Elena CSIC ORCID ; González de Santos, Pablo
Issue Date2006
CitationInternational Conference on Climbing and Walking Robots and Support Technologies for Mobile Machines (8º. 2005)
SeriesCLAWAR 2005
AbstractSummary. It is widespread the idea that animal legged locomotion improves wheeled locomotion on very rough terrain. However, the use of legs as locomotion system for vehicles and robots is still far away from competing with wheels and trucks even on natural ground. Walking robots feature two main disadvantages. One is the lack of reacting capabilities from external disturbances, and the other is the very slow walking motion. Both obstacles prevent walking mechanisms from being introduced in industrial processes and from being part of service and assistance robotics. This paper is aimed at solving the two above obstacles by combining a dynamic stability margin that quantifies the impact energy that a robot can withstand, and either controlling a dynamic walk by means of active compliance, which helps the robot react to disturbances. Experiments performed on the SILO4 quadruped robot show a relevant improvement on the walking gait.
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Appears in Collections:(IAI) Comunicaciones congresos

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