NDLI: A four legged walking robot with obstacle overcoming capabilities

Content Provider	IEEE Xplore Digital Library
Author	Filho, A.B. Amaral, P.F.S. Pinto, B.G.M.
Copyright Year	2010
Description	Author affiliation: Automatica Tecnologia S/A, Vitoria, ES, Brazil (Pinto, B.G.M.) \|\| Electrical Engineering Department, Federal University of Espirito Santo, Brazil (Amaral, P.F.S.) \|\| Mechanical Engineering Department, Federal University of Espirito Santo, Brazil (Filho, A.B.)
Abstract	The paper deals with the four legged walking robot Guará, built with obstacle overcoming capabilities. It was designed as a research robot platform, to be used in indoor environment, walking straight and curved paths and detecting and overcoming known obstacles. Straight paths are done with gait matrix strategy and curved paths are accomplished by the four legs which have differential strokes in inclined paths relatively to the robot longitudinal axis. Obstacle overcoming is done using only information from contact sensors installed on the robot's feet. Complex movements and tracking sequences are proposed to be built from a small group of simple movements sequenced according to the contact keys switching sequence. Results include: gait generation for straight and curved paths; integrated movement sequence to go one step up in the floor; and a description of the Guara quadruped robot.
Starting Page	374
Ending Page	379
File Size	789166
Page Count	6
File Format	PDF
ISBN	9781424475605
e-ISBN	9781424475629
DOI	10.1109/HSI.2010.5514543
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-13
Publisher Place	Poland
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Legged locomotion Navigation mobile robot Mobile robots anthropomorphic Hip Leg Foot Orbital robotics robot Robot kinematics Robot sensing systems Joining processes obstacle legged robot
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in