Name
Abstract | ||
|---|---|---|
Abstract - Walking-robot technology ,has ,reached an advanced stage of development, as has already been demonstrated by a number of real applications. However, further improvement ,is still needed if walking robots are to compete,with ,traditional vehicles. Some ,potential improvements could be gained through optimization. Thus, this paper presents a method ,for distributing the legs around the robot’s body such as to reduce the forces the legs must exert to support ,and ,propel the robot. The method ,finds through non-linear optimization techniques the middle leg displacement that nulls the difference between foot forces in a middle leg and a corner leg. A walking robot has been built to assess the theoretical results. Index Terms - Energy efficiency, legged locomotion, mobile robots, optimization methods. |
Year | DOI | Venue |
|---|---|---|
2005 | 10.1109/ROBOT.2005.1570604 | ICRA |
Keywords | Field | DocType |
Energy efficiency,legged locomotion,mobile robots,optimization methods,Energy efficiency,legged locomotion,mobile robots,optimization methods | Robot control,Efficient energy use,Simulation,Control engineering,Robot locomotion,Engineering,Robot,Mobile robot | Conference |
Volume | Issue | ISSN |
2005 | 1 | 1050-4729 |
ISBN | Citations | PageRank |
0-7803-8914-X | 5 | 0.67 |
References | Authors | |
5 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Pablo Gonzalez-de-Santos | 1 | 91 | 8.87 |
| Joaquin Estremera | 2 | 96 | 7.77 |
| E. Garcia | 3 | 252 | 23.55 |