Matches in SemOpenAlex for { <https://semopenalex.org/work/W2000719480> ?p ?o ?g. }
Showing items 1 to 93 of
93
with 100 items per page.
- W2000719480 endingPage "339" @default.
- W2000719480 startingPage "331" @default.
- W2000719480 abstract "Purpose The purpose of this paper is to describe an innovative compliance control architecture for hybrid multi‐legged robots. The approach was verified on the hybrid legged‐wheeled robot ASGUARD, which was inspired by quadruped animals. The adaptive compliance controller allows the system to cope with a variety of stairs, very rough terrain, and is also able to move with high velocity on flat ground without changing the control parameters. Design/methodology/approach The paper shows how this adaptivity results in a versatile controller for hybrid legged‐wheeled robots. For the locomotion control we use an adaptive model of motion pattern generators. The control approach takes into account the proprioceptive information of the torques, which are applied on the legs. The controller itself is embedded on a FPGA‐based, custom designed motor control board. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair‐climbing capabilities. Findings The robot is well suited for disaster mitigation as well as for urban search and rescue missions, where it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get a better situation awareness for the rescue personnel, before they enter a possibly dangerous area. A rugged, waterproof and dust‐proof corpus and the ability to swim are additional features of the robot. Originality/value Contrary to existing approaches, a pre‐defined walking pattern for stair‐climbing was not used, but an adaptive approach based only on internal sensor information. In contrast to many other walking pattern based robots, the direct proprioceptive feedback was used in order to modify the internal control loop, thus adapting the compliance of each leg on‐line." @default.
- W2000719480 created "2016-06-24" @default.
- W2000719480 creator A5016436943 @default.
- W2000719480 creator A5081687578 @default.
- W2000719480 creator A5091800308 @default.
- W2000719480 date "2009-06-19" @default.
- W2000719480 modified "2023-09-25" @default.
- W2000719480 title "Adaptive compliance control of a multi‐legged stair‐climbing robot based on proprioceptive data" @default.
- W2000719480 cites W1596537003 @default.
- W2000719480 cites W1822001265 @default.
- W2000719480 cites W1988274707 @default.
- W2000719480 cites W2151453089 @default.
- W2000719480 cites W2172735470 @default.
- W2000719480 cites W2327544441 @default.
- W2000719480 doi "https://doi.org/10.1108/01439910910957084" @default.
- W2000719480 hasPublicationYear "2009" @default.
- W2000719480 type Work @default.
- W2000719480 sameAs 2000719480 @default.
- W2000719480 citedByCount "13" @default.
- W2000719480 countsByYear W20007194802013 @default.
- W2000719480 countsByYear W20007194802014 @default.
- W2000719480 countsByYear W20007194802015 @default.
- W2000719480 countsByYear W20007194802018 @default.
- W2000719480 countsByYear W20007194802019 @default.
- W2000719480 countsByYear W20007194802021 @default.
- W2000719480 countsByYear W20007194802023 @default.
- W2000719480 crossrefType "journal-article" @default.
- W2000719480 hasAuthorship W2000719480A5016436943 @default.
- W2000719480 hasAuthorship W2000719480A5081687578 @default.
- W2000719480 hasAuthorship W2000719480A5091800308 @default.
- W2000719480 hasConcept C107464732 @default.
- W2000719480 hasConcept C127413603 @default.
- W2000719480 hasConcept C133731056 @default.
- W2000719480 hasConcept C147176958 @default.
- W2000719480 hasConcept C154945302 @default.
- W2000719480 hasConcept C161840515 @default.
- W2000719480 hasConcept C18903297 @default.
- W2000719480 hasConcept C203479927 @default.
- W2000719480 hasConcept C2775924081 @default.
- W2000719480 hasConcept C2775935494 @default.
- W2000719480 hasConcept C2776319952 @default.
- W2000719480 hasConcept C2777295749 @default.
- W2000719480 hasConcept C2779908020 @default.
- W2000719480 hasConcept C41008148 @default.
- W2000719480 hasConcept C42407357 @default.
- W2000719480 hasConcept C44154836 @default.
- W2000719480 hasConcept C6557445 @default.
- W2000719480 hasConcept C66938386 @default.
- W2000719480 hasConcept C86803240 @default.
- W2000719480 hasConcept C90509273 @default.
- W2000719480 hasConcept C95038775 @default.
- W2000719480 hasConceptScore W2000719480C107464732 @default.
- W2000719480 hasConceptScore W2000719480C127413603 @default.
- W2000719480 hasConceptScore W2000719480C133731056 @default.
- W2000719480 hasConceptScore W2000719480C147176958 @default.
- W2000719480 hasConceptScore W2000719480C154945302 @default.
- W2000719480 hasConceptScore W2000719480C161840515 @default.
- W2000719480 hasConceptScore W2000719480C18903297 @default.
- W2000719480 hasConceptScore W2000719480C203479927 @default.
- W2000719480 hasConceptScore W2000719480C2775924081 @default.
- W2000719480 hasConceptScore W2000719480C2775935494 @default.
- W2000719480 hasConceptScore W2000719480C2776319952 @default.
- W2000719480 hasConceptScore W2000719480C2777295749 @default.
- W2000719480 hasConceptScore W2000719480C2779908020 @default.
- W2000719480 hasConceptScore W2000719480C41008148 @default.
- W2000719480 hasConceptScore W2000719480C42407357 @default.
- W2000719480 hasConceptScore W2000719480C44154836 @default.
- W2000719480 hasConceptScore W2000719480C6557445 @default.
- W2000719480 hasConceptScore W2000719480C66938386 @default.
- W2000719480 hasConceptScore W2000719480C86803240 @default.
- W2000719480 hasConceptScore W2000719480C90509273 @default.
- W2000719480 hasConceptScore W2000719480C95038775 @default.
- W2000719480 hasIssue "4" @default.
- W2000719480 hasLocation W20007194801 @default.
- W2000719480 hasOpenAccess W2000719480 @default.
- W2000719480 hasPrimaryLocation W20007194801 @default.
- W2000719480 hasRelatedWork W1498403997 @default.
- W2000719480 hasRelatedWork W2000719480 @default.
- W2000719480 hasRelatedWork W2014019964 @default.
- W2000719480 hasRelatedWork W2148688043 @default.
- W2000719480 hasRelatedWork W2161968185 @default.
- W2000719480 hasRelatedWork W2233379657 @default.
- W2000719480 hasRelatedWork W2760895900 @default.
- W2000719480 hasRelatedWork W2980055948 @default.
- W2000719480 hasRelatedWork W3041910523 @default.
- W2000719480 hasRelatedWork W4313288888 @default.
- W2000719480 hasVolume "36" @default.
- W2000719480 isParatext "false" @default.
- W2000719480 isRetracted "false" @default.
- W2000719480 magId "2000719480" @default.
- W2000719480 workType "article" @default.