Control And Software Structures Of A Hydraulic Six-legged Machine Designed For Locomotion In Natural Environment

Hartikainen, Kristian; Lehtinen, Hannu; Halme, Aarne; Koskinen, Kari

doi:10.1109/iros.1992.587397

Cited by 19 publications

(2 citation statements)

References 5 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…By taking inspiration from the hydraulic systems of spiders, 1 a flexible hydraulic joint suitable for being embedded on adaptive robotic structures has recently been proposed and investigated by the authors. [2][3][4][5]40 On the other hand, miniaturized hydraulic systems have been developed by several researchers for actuating anthropomorphic hand prostheses, [6][7][8][9][10][11] robotic catheters, [7][8][9][10][11][12][13][14][15][16][17] self-propelling endoscopes, 18,19 macro-scale hexapod robots, [20][21][22][23] surgical robotic systems, [24][25][26] and several other devices. Different kinds of micro-actuation systems have been investigated 27,28 and several micro-pump systems have been manufactured and their performances compared.…”

Section: Introductionmentioning

confidence: 99%

A smart hydraulic joint for future implementation in robotic structures

et al. 2010

View full text Add to dashboard Cite

A hydraulic flexible joint inspired by the actuation system of spiders is investigated in this paper. Its design and characteristics are discussed and a mathematical model is developed to describe its static behaviour. Results of experimental tests are presented to validate its performance. A comparison to other hydraulic actuation systems is performed. The use of the proposed hydraulic flexible joint in adaptive robotic structures is addressed and discussed.

show abstract

Section: Introductionmentioning

confidence: 99%

A smart hydraulic joint for future implementation in robotic structures

et al. 2010

View full text Add to dashboard Cite

show abstract

“…Depending on the size of the robot several solutions have been presented. (Brooks, 1989, Hartikainen et, al., 1992, Iirotkov et al, 1991, Pfeiffer et al, 1993, R.aibrrt-et al, 1989 This paper focusses on the integration of sensing components into the cont,rol architecture of a walking machine. It gives a short overview of the mechanics of LAURON 11 and discusses the sensor-integration in different control-levels.…”

Section: Introductionmentioning

confidence: 99%

Sensor components of the six-legged walking machine LAURON II

Cordes

Berns

Leppänen

1997 8th International Conference on Advanced Robotics. Proceedings. ICAR'97

View full text Add to dashboard Cite

This paper dtwribes the sensing components of LAU-RON 11. To manage the complex task of walking machincl control several sensors are integrated in the control ;irchit,ecture of the robot. The most sophisticated scnsnr-system is the light weight stereo head of LAU-R O N 11. The head is designed as a universal platform to test, different, kinds of sensors for obstacle detection. For c.xample the construction allows to mount ultrasonic transducers or infrared-based distance sensors. Usually is it used with two grayscale cameras and a line laser to detect obstacles. The change of shape of thc. projected line in the camera pictures is measured and distances of obstacles can be determined Keywords: Walking Machine, Stereo Head, Sensing 0-7803-41 60-0-7/97 $1 0.00 0 1997 IEEE

show abstract