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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 ...
Reliable, Built-in, High-Accuracy Force Sensing for Legged Robots
(2006-06-28)
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 ...
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 ...