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Título

A control architecture for humanitarian-demining legged robots

Autor García Armada, Elena ; Estremera, Joaquín; González de Santos, Pablo
Palabras clave Control architectures
deliberative control
reactive control
legged robots
Humanitarian demining
Fecha de publicación 2003
EditorProfessional Engineering Publishing
Citación International cnference on Climbing and Walking Robots (6º. 2003. Catania, Italia)
Serie CLAWAR 2003
ResumenThe use of autonomous robots for humanitarian demining tasks is a promising solution. Among the different types of autonomous robots, walking robots exhibit significant advantages to negotiate uneven and unstructured terrain. However, the complete autonomous control of walking robots is still challenging. In this work, a hybrid reactive/deliberative control architecture is proposed for the autonomous control of a demining system composed of a hexapod walking robot and a scanning manipulator. This control architecture allows the control system to both plan global control and navigation strategies and react to unmodelled disturbances.
Versión del editorhttp://eu.wiley.com/WileyCDA/WileyTitle/productCd-1860584098,subjectCd-EE00.html
URI http://hdl.handle.net/10261/8227
ISBN 1-86058-409-8
Aparece en las colecciones: (IAI) Comunicaciones congresos
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