High-resolution indirect feet-ground interaction measurement for hydraulic-legged robots

IEEE Transactions on Instrumentation and Measurement

Volumn 58, Issue 10, 2009, Pages 3396-3404

  Nabulsi, Samir ^a   Sarria, Javier F ^a   Montes, Hector ^a   Armada, Manuel A ^a  

^a Consejo Superior de Investigaciones Científicas   (Spain)

Author keywords

Feet ground interactions; Friction modeling; Hydraulic actuators; Pressure sensors; Quadruped robot; Signal filtering

Indexed keywords

FEET-GROUND INTERACTIONS; FRICTION MODELING; HYDRAULIC ACTUATORS; QUADRUPED ROBOT; SIGNAL FILTERING;

ACTUATORS; DRILLING EQUIPMENT; FORCE MEASUREMENT; FRICTION; HYDRAULIC EQUIPMENT; MULTIPURPOSE ROBOTS; PRESSURE EFFECTS; PRESSURE SENSORS; PRESSURE TRANSDUCERS; SIGNAL FILTERING AND PREDICTION; SIGNAL PROCESSING; SOIL TESTING; TRIBOLOGY;

HYDRAULIC MACHINERY;

EID: 70349449721     PISSN: 00189456     EISSN: None     Source Type: Journal    
DOI: 10.1109/TIM.2009.2017650     Document Type: Article

References (31)

1. P. González de Santos, M. Armada, A. Martin, and W. de Peuter, "A survey of locomotion concepts for planetary exploration rovers," in Proc. 3rd ESA Workshop Adv. Space Technol. Robot Appl., Noordwjck, The Netherlands, 1994.
2. M. Armada and P. González de Santos, "Climbing, walking and intervention robots," Ind. Robot - An International Journal, vol. 24, no. 2, pp. 158-163, 1997.
3. M. Armada, "Climbing and walking: From research to applications," in Proc. 3rd Int. Conf. Climbing Walking Robots, Madrid, Spain, 2000, pp. 39-48.
4. G. S. Virk, G. Muscato, A. Semerano, M. Armada, and H. A. Warren, "The CLAWAR project on mobile robotics," Ind. Robot - An International Journal, vol. 31, no. 2, pp. 130-138, 2004.
5. P. González de Santos, M. Armada, and M. A. Jiménez, "Ship building with ROWER," IEEE Robot. Autom. Mag., vol. 7, no. 4, pp. 35-43, Dec. 2000.
6. J. C. Grieco, M. Prieto, M. Armada, and P. González de Santos, "A six-legged climbing robot for high payloads," in Proc. IEEE Int. Conf. Control Appl., Trieste, Italy, 1998, pp. 446-450.
7. M. Armada and P. González de Santos, "Perspectives of climbing and walking robots for the construction industry," in Proc. 4th Int. Conf. Climbing Walking Robots, Paris, France, 2001, pp. 929-936.
8. M. Armada, P. González de Santos, M. A. Jiménez, and M. Prieto, "Application of CLAWAR machines," Int. J. Robot. Res., vol. 22, no. 3/4, pp. 251-264, 2003.
9. Balaguer, G. S. Virk, and M. Armada, "Robot applications against gravity," IEEE Robot. Autom. Mag., vol. 13, no. 1, pp. 5-6, Mar. 2006.
10. M. Armada, "Robotics: Now and beyond," Ind. Robot - An International Journal, vol. 32, no. 2, p. 97, Apr. 2005.
11. E. Garcia, M. A. Jiménez, P. González de Santos, and M. Armada, "The evolution of robotics research," IEEE Robot. Autom. Mag., vol. 14, no. 1, pp. 90-103, Mar. 2007.
12. M. Armada and R. M. Molfino, "Improving working conditions and safety for landslide consolidation and monitoring," in Workshop Role CLAWAR Educ., Training, Working Conditions Safety, Madrid, Spain, 2002.
13. P. Anthoine, M. Armada, S. Carosio, P. Comacchio, F. Cepolina, P. González, T. Klopf, F. Martin, R. C. Michelini, R. M. Molfino, S. Nabulsi, R. P. Razzoli, E. Rizzi, L. Steinicke, R. Zannini, and M. Zoppi, "ROBOCLIMBER," in 1st Int. Workshop ASER, Bardolino, Italy, Mar. 13-15, 2003.
14. P. Anthoine, M. Armada, S. Carosio, P. Comacchio, F. Cepolina, P. González, T. Klopf, F. Martin, R. C. Michelini, R. M. Molfino, S. Nabulsi, R. P. Razzoli, E. Rizzi, L. Steinicke, R. Zannini, and M. Zoppi, "ROBOCLIMBER: A four-legged climbing robot for rocky slope consolidation and monitoring," in 10th ISORA, Seville, Spain, 2004.
15. R. Molfino, M. Armada, F. Cepolina, and M. Zoppi, "ROBOCLIMBER the 3 ton spider," Ind. Robot - An International Journal, vol. 32, no. 2, pp. 163-170, 2005.
16. Roboclimber Project. [Online]. Available: http://www.iai.csic.es/ dca/dac_Robots.html
17. S. Nabulsi and M. Armada, "Climbing strategies for remote maneuverability of ROBOCLIMBER," in 35th ISR, Paris, France, 2004.
18. S. Nabulsi, M. Armada, and P. González de Santos, "Control architecture for a four-legged hydraulically actuated robot," in Proc. ISMCR, Madrid, Spain, 2003, pp. 291-295.
19. P. González de Santos and M. A. Jiménez, "Generation of discontinuous gaits for quadruped walking vehicles," J. Robot. Syst. vol. 12, no. 9, pp. 599-611, 1995.
20. S. Hirose and Y. Kuneida, "Generalized standard foot trajectory for a quadruped walking vehicle," Int. J. Robot. Res., vol. 10, no. 1, pp. 3-12, Feb. 1991.
21. M. Prieto, M. Armada, and S. Ros, "Continuous climbing control for the legged robot REST-2," in 3rd Int. Conf. CLAWAR, Madrid, Spain, 2000, pp. 491-498.
22. H. Montes, S. Nabulsi, and M. Armada, "Design and implementation of force sensor for roboclimber," in Proc. Int. Conf. CLAWAR, Madrid, Spain, 2004, pp. 219-228.
23. H. Montes, S. Nabulsi, and M. Armada, "Reliable, built-in, high-accuracy force sensing strategies in walking robots," Int. J. Robot. Res., vol. 25, no. 9, pp. 931-950, Sep. 2006.
24. S. Nabulsi, J. F. Sarria, and M. Armada, "Indirect force measurement for hydraulic walking robot," in Proc. IEEE Int. Symp. WISP, Alcala de Henares, Spain, 2007, pp. 753-757.
25. H. E. Merrit, Hydraulic Control Systems. New York: Wiley, 1967.
26. T. J. Viersma, Analysis, Synthesis and Design of Hydraulic Servosystems and Pipelines. Amsterdam, The Netherlands: Elsevier, 1980.
27. M. Jelali and A. Kroll, Hydraulic Servo-Systems: Modelling, Identification and Control. Berlin, Germany: Springer-Verlag, 2003.
28. B. Armstrong-Helouvry, P. Dupont, and C. Canudas de Wit, "A survey of models, analysis tools and compensation methods for the control of machines with friction," Automatica, vol. 30, no. 7, pp. 1083-1138, Jul. 1994.
29. J. Polzer and D. Nissing, "Mechatronic design using flatness based control to compensate for a lack of sensors," in Proc. Mechatronics Darmstadt, Germany, 2000.
30. R. Brown and P. Hwang, Introduction to Random Signals and Applied Kalman Filtering. New York: Wiley, 1985.
31. G. Welck and G. Bishop, "An introduction to the Kalman filter," Univ. North Carolina, Chapel Hill, NC, TR 95-041, Jul. 24, 2006.