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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 ...
Detecting Zero-Moment Point in Legged Robot
(07/01/2014)
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
(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 ...