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High-Resolution Indirect Feet–Ground Interaction Measurement for Hydraulic-Legged Robots
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 ...
ROBOCLIMBER: Control System Architecture
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 ...
Detecting Zero-Moment Point in Legged Robot
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 ...