Behavior-based control architecture for legged-and-climber robots
In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failures, because it can control this kind of robot wit...
| Autores: | , , , |
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| Tipo de recurso: | artículo |
| Estado: | Versión publicada |
| Fecha de publicación: | 2021 |
| País: | España |
| Institución: | Consejo Superior de Investigaciones Científicas (CSIC) |
| Repositorio: | DIGITAL.CSIC. Repositorio Institucional del CSIC |
| OAI Identifier: | oai:digital.csic.es:10261/261967 |
| Acceso en línea: | http://hdl.handle.net/10261/261967 https://api.elsevier.com/content/abstract/scopus_id/85117267388 |
| Access Level: | acceso abierto |
| Palabra clave: | Behavior-based Climber robot Control Control architecture Fault-tolerant Legged robot Optimization |
| Sumario: | In this paper, we present a fully original control architecture for legged-and-climber robots that is level-based, hierarchical, and centralized. The architecture gives the robots the ability to perform self-reconfiguration after unforeseen leg failures, because it can control this kind of robot with different numbers of legs. The results show the capability of performing movements in any direction and inclination planes. The components and functionalities of the developed control architecture for these robots are described, and, the architecture’s performance is tested on the ROMHEX robot. |
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