A control architecture for humanitarian-demining legged robots

被引：0

作者：

Garcia, E ^{[1
]}

Estremera, J ^{[1
]}

De Santos, PG ^{[1
]}

机构：

[1] Spanish Council Sci Res, Ind Automat Inst, Madrid, Spain

来源：

CLIMBING AND WALKING ROBOTS: AND THEIR SUPPORTING TECHNOLOGIES | 2003年

关键词：

control architectures; deliberative control; reactive control; legged robots; humanitarian deminig;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The use of autonomous robots for humanitarian demining tasks is a promising solution. Among the different types of autonomous robots, walking robots exhibit significant advantages to negotiate uneven and unstructured terrain. However, the complete autonomous control of walking robots is still challenging. In this work, a hybrid reactive/deliberative control architecture is proposed for the autonomous control of a demining system composed of a hexapod walking robot and a scanning manipulator. This control architecture allows the control system to both plan global control and navigation strategies and react to unmodelled disturbances.

引用

页码：383 / 390

页数：8

共 11 条

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