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Título: | A control architecture for humanitarian-demining legged robots |
Autor: | García Armada, Elena CSIC ORCID ; Estremera, Joaquín; González de Santos, Pablo | Palabras clave: | Control architectures deliberative control reactive control legged robots Humanitarian demining |
Fecha de publicación: | 2003 | Editor: | Professional Engineering Publishing | Citación: | International cnference on Climbing and Walking Robots (6º. 2003. Catania, Italia) | Serie: | CLAWAR 2003 | Resumen: | The 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 editor: | http://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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garcia-CL155.pdf | 467,62 kB | Adobe PDF | Visualizar/Abrir |
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