أعرض تسجيلة المادة بشكل مبسط

dc.creator González de Santos, Pablo
dc.creator García Armada, Elena
dc.creator Estremera, Joaquín
dc.date 2008-02-08T17:38:32Z
dc.date 2008-02-08T17:38:32Z
dc.date 2007-08-01
dc.date.accessioned 2017-01-31T01:00:05Z
dc.date.available 2017-01-31T01:00:05Z
dc.identifier Autonomous Robots, Vol. 23, N. 4, pp. 247-258, 2007.
dc.identifier http://dx.doi.org/10.1007/s10514-007-9045-8
dc.identifier 0929-5593
dc.identifier http://hdl.handle.net/10261/2904
dc.identifier 10.1007/s10514-007-9045-8
dc.identifier.uri http://dspace.mediu.edu.my:8181/xmlui/handle/10261/2904
dc.description Walking-robot technology has already achieved an important stage of development, as demonstrated in a few real applications. However, walking robots still need further improvement if they are to compete with traditional vehicles. A potential improvement could be made through optimization at design time. A better distribution of the legs around a robot’s body can help decrease actuator size in the design procedure and reduce power consumption during walking as well, which is of vital importance in autonomous robots. This paper, thus, presents a method focused on the distribution of legs around the body to decrease maximum foot forces against the ground, which play heavily in determining robot shape and actuator size. Some experiments have been performed with the SILO6 walking robot to validate the theoretical results.
dc.description The authors would like to acknowledge the financial support of the Spanish Ministry of Education and Science through Grant DPI2004-05824.
dc.description Peer reviewed
dc.format 22195 bytes
dc.format application/pdf
dc.language eng
dc.publisher Springer
dc.rights openAccess
dc.subject Energy efficiency
dc.subject Legged locomotion
dc.subject Mobile robots
dc.subject Optimization methods
dc.title Improving walking-robot performances by optimizing leg distribution
dc.type Artículo


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أعرض تسجيلة المادة بشكل مبسط