Utilize este identificador para referenciar este registo:
https://hdl.handle.net/1822/77640
Registo completo
Campo DC | Valor | Idioma |
---|---|---|
dc.contributor.author | Coelho, Joana | por |
dc.contributor.author | Dias, Bruno | por |
dc.contributor.author | Lopes, Gil | por |
dc.contributor.author | Ribeiro, A. Fernando | por |
dc.contributor.author | Flores, Paulo | por |
dc.date.accessioned | 2022-05-13T14:57:41Z | - |
dc.date.available | 2022-05-13T14:57:41Z | - |
dc.date.issued | 2022 | - |
dc.identifier.isbn | 9783031081392 | por |
dc.identifier.issn | 2511-1256 | por |
dc.identifier.uri | https://hdl.handle.net/1822/77640 | - |
dc.description.abstract | In controlled environments, the hexapod limbs actuation can be controlled as a closed system. However, the increase of the terrain complexity implies an adaptation of their trajectory based on the robot interactions with the environment. Thus, the implementation of terrain data to the legs actuation potentially improves the hexapod quasi-static stability in these scenarios. This paper presents an adaptive control system based on the limbs reactive behavior for navigation across complex environments. Through force sensors placed on the foot-tips, the model detects the foot-ground interactions and adjusts the limbs trajectory accordingly. Furthermore, to ensure that the robot posture remains stable throughout locomotion, an impedance control is implemented in each limb. The proposed control architecture was tested in an irregular ground through dynamic simulations with five different configurations. Through result analysis, an optimized model was achieved which reduces the oscillations of the torso and slippage of the feet when walking across obstacles. | por |
dc.description.sponsorship | The first author received funding through a doctoral scholarship from the Portuguese Foundation for Science and Technology (FCT) (Grant No. SFRH/BD/145818/2019), with funds from the Portuguese Ministry of Science, Technology and Higher Education and the European Social Fund through the Programa Operacional Regional Norte. This work has been supported by FCT within the R&D Units Project Scope: UIDB/00319/2020, UIDB/04436/2020 and UIDP/04436/2020. | por |
dc.language.iso | eng | por |
dc.publisher | Springer | - |
dc.relation | info:eu-repo/grantAgreement/FCT/POR_NORTE/SFRH%2FBD%2F145818%2F2019/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F00319%2F2020/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDB%2F04436%2F2020/PT | por |
dc.relation | info:eu-repo/grantAgreement/FCT/6817 - DCRRNI ID/UIDP%2F04436%2F2020/PT | por |
dc.rights | openAccess | por |
dc.title | Reactive locomotion of a hexapod for navigation across irregular ground | por |
dc.type | conferencePaper | por |
dc.peerreviewed | yes | por |
oaire.citationStartPage | 478 | por |
oaire.citationEndPage | 485 | por |
oaire.citationConferencePlace | Bilbao | por |
oaire.citationVolume | 24 SPAR | por |
dc.identifier.eissn | 2511-1264 | - |
dc.identifier.doi | 10.1007/978-3-031-08140-8_52 | por |
dc.subject.fos | Engenharia e Tecnologia::Engenharia Mecânica | por |
sdum.journal | Springer Proceedings in Advanced Robotics | por |
sdum.conferencePublication | 18th International Symposium on Advances in Robot Kinematics | por |
oaire.version | AM | por |
Aparece nas coleções: | CMEMS - Artigos em livros de atas/Papers in proceedings |
Ficheiros deste registo:
Ficheiro | Descrição | Tamanho | Formato | |
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Reactive_locomotion_of_a_hexapod_for_navigation_across_irregular_ground.pdf | 1,49 MB | Adobe PDF | Ver/Abrir |