NDLI: Improving walking-robot performances by optimizing leg distribution

Content Provider	Springer Nature Link
Author	Gonzalez de Santos, P. Garcia, E. Estremera, J.
Copyright Year	2007
Abstract	Walking-robot technology has already achieved an important stage of development, as demonstrated in a few real applications. However, walking robots still need further improvement if they are to compete with traditional vehicles. A potential improvement could be made through optimization at design time. A better distribution of the legs around a robot’s body can help decrease actuator size in the design procedure and reduce power consumption during walking as well, which is of vital importance in autonomous robots. This paper, thus, presents a method focused on the distribution of legs around the body to decrease maximum foot forces against the ground, which play heavily in determining robot shape and actuator size. Some experiments have been performed with the SILO6 walking robot to validate the theoretical results.
Starting Page	247
Ending Page	258
Page Count	12
File Format	PDF
ISSN	09295593
Journal	Autonomous Robots
Volume Number	23
Issue Number	4
e-ISSN	15737527
Language	English
Publisher	Springer US
Publisher Date	2007-08-01
Publisher Place	Boston
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Energy efficiency Legged locomotion Mobile robots Optimization methods Simulation and Modeling Mechanical Engineering Computer Imaging, Vision, Pattern Recognition and Graphics Electronic and Computer Engineering Automation and Robotics Artificial Intelligence (incl. Robotics)
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence

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