J. Estremera

GMV Innovating Solutions (Spain)

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P. González de Santos

Martin Luther University Halle-Wittenberg

Elena García

Centre for Automation and Robotics

Manuel Armada

Universidad de Valladolid

J. A. Cobano

Universidad Pablo de Olavide

Javier García

University of Puerto Rico-Mayaguez

Kenneth J. Waldron

The Ohio State University

Diego González

Oak Ridge Associated Universities

Andrés San-Millán

Catholic University of Colombia

Bruno Santamaria

Tekniker

Mikel Armendia

Tekniker

Cooperative Institutions

Centre for Automation and Robotics

GMV Innovating Solutions (Spain)

Consejo Superior de Investigaciones Científicas

Institute of Automation

Apple (United States)

Universidad Politécnica de Madrid

Stanford University

Tekniker

University of Lincoln

European Space Agency

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GAIT PARAMETER ADAPTATION TO ENVIRONMENTAL PERTURBATIONS IN QUADRUPEDAL ROBOTS

Elena García J. Estremera P. González de Santos Manuel Armada

Quadrupedalism

10.1142/9789812770189_0019

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Citations (0)

A continuous free crab gait for quadruped robots on irregular terrain

J. Estremera P. González de Santos Elena García Armada

This work has been supported by CICYT (Spanish Ministry of Science and Technology) under Grant DPI2001-1595

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Citations (2)

Free Gaits for Quadruped Robots over Irregular Terrain

The International Journal of Robotics Research (2002)

J. Estremera P. González de Santos

Although walking machines exhibit many advantages over wheeled or tracked vehicles, legged vehicles have yet to be introduced in real applications because of the primitive development of specific techniques such as gait generation. This article addresses the design, implementation and experimentation of gaits to negotiate uneven terrain with a real machine. The gaits presented are a mixture of free and discontinuous gaits. Discontinuous gaits were selected because of their ground adaptability features and ease of implementation, while free gaits were chosen because they facilitate path tracking. The fusion of these two main gaits plus the addition of extra constraints to avoid leg-transfer deadlocking produced a new free-crab gait, a free-spinning gait and a free-turning gait. Some experiments have been conducted to illustrate the features of these gaits on a real machine.

Adaptability

10.1177/027836402760475333

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Citations (68)

A six-legged robot-based system for humanitarian demining missions

Mechatronics (2007)

P. González de Santos J. A. Cobano Elena García J. Estremera Manuel Armada

10.1016/j.mechatronics.2007.04.014

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Citations (106)

Manipulators help out with plaster panels in construction

Industrial Robot the international journal of robotics research and application (2003)

P. González de Santos J. Estremera María A. Jiménez Elena García Manuel Armada

Building construction is a great area for automation, but the incorporation of robots in the construction industry is a very slow affair because of the intrinsic difficulties. New requirements, however, now call for material‐handling manipulators to be used to help operators move and position heavy payloads without accidents. Builders are also being encouraged to provide automatic tools by the EU labour legislation, which limits the maximum payload that operators are allowed to carry. This paper introduces a manipulator to assist the operators in handling and installing pre‐manufactured plaster panels for indoor‐wall construction. This six degrees of freedom manipulator is fixed between floor and ceiling so that it can carry heavy payloads without tumbling. The whole system is easily assembled and disassembled to facilitate transportation between construction sites. The system's main features and its functions are presented.

Payload (computing)

Installation

Carry (investment)

Ceiling (cloud)

Manipulator (device)

10.1108/01439910310506774

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Citations (15)

Improving walking-robot performances by optimizing leg distribution

Autonomous Robots (2007)

P. González de Santos Elena García J. Estremera

Legged robot

10.1007/s10514-007-9045-8

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Citations (26)

Including Joint Torques and Power Consumption in the Stability Margin of Walking Robots

Autonomous Robots (2004)

P. González de Santos J. Estremera Elena García Manuel Armada

Margin (machine learning)

10.1023/b:auro.0000047288.23401.5c

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Citations (14)

Analyzing Bounding and Galloping Using Simple Models

Journal of Mechanisms and Robotics (2008)

Kenneth J. Waldron J. Estremera Paul J. Csonka Surya P. N. Singh

This paper focuses on modeling the gait characteristics of a quadrupedal gallop. There have been a number of studies of the mechanics of the stance phase in which a foot is in contact with the ground. We seek to put these studies in the context of the stride, or overall motion cycle. The model used is theoretical, and is kept simple in the interest of transparency. It is compared to empirical data from observations of animals, and to data from experiments with robots such as our KOLT machine, and results from sophisticated simulation studies. Modeling of the energy loss inherent in the interaction between the system and the environment plays a key role in the study. Results include the discovery of a hidden symmetry in the gait pattern, usually regarded as being completely asymmetrical. Another result demonstrates that the velocities with which the two front feet impact and leave the ground are different, and similarly for the rear feet. The velocities of the foot pairs mirror each other. This is consistent with empirical observation, but is at variance with the assumption used almost universally when modeling stance. A further result elicits the importance of the pitch moment of inertia and other effects that make the mammalian architecture, in which the center of mass is closer to the shoulders than to the hips, beneficial..

Quadrupedalism

Ground reaction force

Bounding overwatch

STRIDE

10.1115/1.2959095

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Citations (25)

Neural virtual sensors for terrain adaptation of walking machines

Journal of Robotic Systems (2005)

J. Estremera P. González de Santos José Antonio López Orozco

When walking in realistic conditions, accurate, reliable sensorial information is critical to ensure the safe operation of legged robots. That means a large number of sensors, cabling, and electronic systems must be used, complicating the robot. On the other hand, the great complexity of the hardware of walking machines is one of the main obstacles preventing the introduction of this kind of vehicle in real applications; consequently this hardware should be simplified. These antagonistic requirements can be reconciled by the use of what are called virtual sensors. This paper addresses the design of virtual sensors for terrain adaptation developed with the aims of simplifying the hardware of the walking machine or increasing the reliability of the sensorial information available. These virtual sensors are based on neural networks and can estimate the forces exerted by the feet from data extracted from joint-position sensors, which are mandatory in all robotic systems. The force estimates are used to detect foot/ground contact. Some experiments carried out with the SILO4 walking robot are reported to prove the efficacy of this method. © 2005 Wiley Periodicals, Inc.

10.1002/rob.20066

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Citations (9)

Quadrupedal locomotion: an introduction to the control of four-legged robots

Choice Reviews Online (2006)

P. González de Santos Elena García J. Estremera

Part I Walking Measurements and Algorithms Walking Robots Stability in Walking Robots Generation of Periodic Gaits Generation on Non-periodic Gaits New Approaches to Stability Part II Control Techniques Kinematics and Dynamics Improving Leg Speed by Soft Computing Techniques Virtual Sensors for Walking Robots Human-Machine Interaction The SIL04 Walking Robot Simulation Software for Walking Robots

Quadrupedalism

Legged robot

10.5860/choice.44-2128

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Citations (158)