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Adding extra sensitivity to the SMART non‐linear actuator using sensor fusion
(Industrial Robot: The International Journal Of Robotics Research And Application, 03/01/2004)
The prospect of using humanoid robots in practical applications attracts an important research effort and the latest steps forward in robot technology show many remarkable achievements where design aspects, control systems ...
Décomposition d’Images Fondée sur l’Analyse de la Régularité Locale: Application au Codage Hybride d’Image
(2009)
La représentation hybride d'image utilise conjointement la décomposition en ondelettes pour l'information structurée et la modélisation paramétrique pour les textures. Dans ce cadre, nous proposons un algorithme qui décompose ...
Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
(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 ...
Robust Cascade Controller for Nonlinearly Actuated Biped Robots: Experimental Evaluation
(2004)
In this paper we consider the postural stability problem for nonlinearly actuated quasi-static biped robots, both with respect to the joint angular positions and also with reference to the gripping effect between the ...
Lyapunov Based Stability Analysis for Metro Lines
(2008)
In this work a direct method to measure the stability of metro system lines with respect to a previously constructed time schedule is presented. For this purpose we first model saturation effects using a real time discrete ...
High-Resolution Indirect Feet–Ground Interaction Measurement for Hydraulic-Legged Robots
(10/01/2009)
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 ...
Methodology for Zero-moment Point Experimental Modeling in the Frequency Domain
(2006)
Frequency domain methodology is applied to obtain a nominal model for the Zero-Moment Point (ZMP) stability index of a biped robot in an attempt to establish a relationship between the robot trunk trajectories and the ...
ROBOCLIMBER: Control System Architecture
(07/01/2004)
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 ...
Modèles 2-D MA pour les champs non déterministes et la décomposition de textures de type Wold
(2007)
Nous proposons une nouvelle méthode pour l'estimation de paramètres d'un modèle 2-D MA infini tronqué associé aux champs stationnaires non déterministes. Cette méthode est développée dans le cadre d'approches d'analyse et ...
On the Design and Development of Climbing and Walking Robots for the Maritime Industries
(2005)
Modern robotic systems are increasingly powerful in terms of sensor fusion and mobility. Present technological progress allows advanced robots to cope progressively much better also with complex environments such as those ...