Now showing items 1-4 of 4

    • Detecting Zero-Moment Point in Legged Robot 

      Montes Franceschi, Héctor; Manuel, Armada; Nabulsi, Samir (2014-07-01)
      The study of Zero-moment point (ZMP) in ROBOCLIMBER (quadruped walking and climbing robot) was realized and calculated in real time during statically postural and dynamically balanced gait. Force sensor with strain gages ...
    • High-Resolution Indirect Feet–Ground Interaction Measurement for Hydraulic-Legged Robots 

      Nabulsi, Samir; Sarria, Javier F.; Montes Franceschi, Héctor; Armada, Manuel A. (2009-10-01)
      Feet-ground interactions influence the legged robot's stability. In this paper, a high-resolution indirect force measurement for hydraulic-legged robots is presented. The use of pressure transducers placed at one or both ...
    • Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots 

      Montes Franceschi, Héctor; Nabulsi, Samir; Armada, Manuel (2006)
      An approach for achieving reliable, built-in, high-accuracy force sensing for legged robots is presented, based on direct exploitation of the properties of a robot’s mechanical structure. The proposed methodology relies ...
    • ROBOCLIMBER: Control System Architecture 

      Montes Franceschi, Héctor; Armada, Manuel; Nabulsi, Samir (2004-07-01)
      The paper shows the complete system architecture of a walking and climbing robot developed to make slope consolidation, where heavy duty equipment is employed for drilling up to 20m holes. ROBOCLIMBER a quadruped robot ...