A Review and Evaluation of Control Architectures for Modular Legged and Climbing Robots

被引:3
作者
Prados, Carlos [1 ]
Hernando, Miguel [1 ]
Gambao, Ernesto [1 ]
Brunete, Alberto [1 ]
机构
[1] Univ Politecn Madrid, Ctr Automat & Robot CAR UPM CSIC, Madrid 28006, Spain
关键词
control architecture; legged robots; modular robots; control structure; MULTIMODE LOCOMOTION; WALKING ROBOT; INSPECTION; SYSTEM; DESIGN; ROOMBOTS; ROMERIN; ORCA;
D O I
10.3390/biomimetics9060319
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
Robotic control is a fundamental part of autonomous robots. Modular legged and climbing robots are complex machines made up of a variety of subsystems, ranging from a single robot with simple legs to a complex system composed of multiple legs (or modules) with computing power and sensitivity. Their complexity, which is increased by the fact of needing elements for climbing, makes a correct structure crucial to achieve a complete, robust, and versatile system during its operation. Control architectures for legged robots are distinguished from other software architectures because of the special needs of these systems. In this paper, we present an original classification of modular legged and climbing robots, a comprehensive review of the most important control architectures in robotics, focusing on the control of modular legged and climbing robots, and a comparison of their features. The control architecture comparison aims to provide the analytical tools necessary to make informed decisions tailored to the specific needs of your robotic applications. This article includes a review and classification of modular legged and climbing robots, breaking down each category separately.
引用
收藏
页数:33
相关论文
共 161 条
[1]   Modular Robotic Systems: Characteristics and Applications [J].
Ahmadzadeh, Hossein ;
Masehian, Ellips ;
Asadpour, Masoud .
JOURNAL OF INTELLIGENT & ROBOTIC SYSTEMS, 2016, 81 (3-4) :317-357
[2]   An architecture for autonomy [J].
Alami, R ;
Chatila, R ;
Fleury, S ;
Ghallab, M ;
Ingrand, F .
INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH, 1998, 17 (04) :315-337
[3]   Tele-operated propeller-type climbing robot for inspection of petrochemical vessels [J].
Alkalla, Mohamed Gouda ;
Fanni, Mohamed A. ;
Mohamed, Abdelfatah M. ;
Hashimoto, Shuji .
INDUSTRIAL ROBOT-THE INTERNATIONAL JOURNAL OF ROBOTICS RESEARCH AND APPLICATION, 2017, 44 (02) :166-177
[4]  
Andrikopoulos G, 2019, IEEE INT C INT ROBOT, P1460, DOI [10.1109/iros40897.2019.8968069, 10.1109/IROS40897.2019.8968069]
[5]  
[Anonymous], 2008, P WORKSH ROB MAN INT
[6]  
[Anonymous], 2022, Verimag Dala Robot
[7]  
[Anonymous], 2022, LAAS Jido
[8]  
[Anonymous], 2001, P 2001 IEEE AER C P, DOI DOI 10.1109/AERO.2001.931701
[9]  
[Anonymous], 1998, NASA Deep Space 1
[10]  
[Anonymous], 2022, Openrobots iRobot ATRV Platform