Memorias de investigación
Artículos en revistas:
Identifying Ground-Robot Impedance to Improve Terrain Adaptability in Running Robots
Año:2015
Áreas de investigación
  • Robótica,
  • Ingenierías
Datos
Descripción
To date, running robots are still outperformed by animals, but their dynamic behaviour can be described by the same model. This coincidence means that biomechanical studies can reveal much about the adaptability and energy efficiency of walking mechanisms. In particular, animals adjust their leg stiffness to negotiate terrains with different stiffnesses to keep the total leg-ground stiffness constant. In this work, we aim to provide one method to identify ground-robot impedance so that control can be applied to emulate the aforementioned animal behaviour. Experimental results of the method are presented, showing well-differentiated estimations on four different types of terrain. Additionally, an analysis of the convergence time is presented and compared with the contact time of humans while running, indicating that the method is suitable for use at high speeds.
Internacional
Si
JCR del ISI
Si
Título de la revista
International Journal of Advanced Robotic Systems
ISSN
1729-8806
Factor de impacto JCR
0,497
Información de impacto
Datos JCR del año 2013
Volumen
DOI
Número de revista
Desde la página
1
Hasta la página
10
Mes
SIN MES
Ranking
Esta actividad pertenece a memorias de investigación
Participantes
  • Autor: Juan Carlos Ramon Arevalo Reggeti UPM
  • Autor: Daniel Sanz-Merodio
  • Autor: Manuel Cestari Soto UPM
  • Autor: Elena García Armada UPM
Grupos de investigación, Departamentos, Centros e Institutos de I+D+i relacionados
  • Creador: Centro o Instituto I+D+i: Centro de Automática y Robótica (CAR). Centro Mixto UPM-CSIC