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A control architecture for humanitarian-demining legged robots

AuthorsGarcía Armada, Elena CSIC ORCID ; Estremera, Joaquín; González de Santos, Pablo
KeywordsControl architectures
deliberative control
reactive control
legged robots
Humanitarian demining
Issue Date2003
PublisherProfessional Engineering Publishing
CitationInternational cnference on Climbing and Walking Robots (6º. 2003. Catania, Italia)
SeriesCLAWAR 2003
AbstractThe 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.
Publisher version (URL),subjectCd-EE00.html
Appears in Collections:(IAI) Comunicaciones congresos

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