The CENTAURO robot leg prototype, and a CAD crosssection
We have experimentally demonstrated the proposed autonomous feature with a number of tasks performed by the CENTAURO robot [2], a hybrid leg-wheel system with an anthropomorphic upper body...
Wheeled motion kinematics and control of a hybrid mobility CENTAURO robot
2020年6月1日 · The developed control scheme is tested in experiments on a legged-wheeled centaur-like robot — CENTAURO. Traversing challenging terrains effectively and efficiently is a paramount requirement for robotic mobile platforms that have to …
quadruped robot to create a centaur-like robot. A centaur is a mytholog-ical creature with the upper body of a human and lower body of a horse. Similar to the centaur, half-human and half-horse composition in robotics can be exploited to achieve stability and manipulation capabilities. This paper contributes as a survey of centaur-like robots.
Development of a humanoid robot CENTAUR-design, human …
Abstract: A humanoid robot system called CENTAUR is presented including its mechanical structure, human interface, vision-based motion planning algorithm and embedded real-time controller. All of these subsystems are integrated to enable the robot to perform a variety of tasks with intelligence, sensing and actuation.
We will give an overview of the design of two new hydraulic robots: HyQ2Max, an improved, robust version of our hydraulic quadruped HyQ, and HyQ2Centaur, a centaur-style robot that combines the HyQ2Max locomotion platform with a pair of new hydraulic manipulator arms.
Simulation Analysis of Synchronous Walking Control for Centaur …
2023年10月13日 · This paper proposes an innovative control scheme for the centaur robot based on synchronized walking. This control scheme allows the centaur robot to follow the wearer’s gait frequency and walking speed by adaptively adjusting its own gait cycle and walking speed.
Centauro: A New Disaster Response Robot From IIT
2018年7月25日 · Momaro used a “centaur” design, with four legs that had wheels on the bottom (like a wheeled quadruped) coupled to a humanoid upper torso with a head and arms. It was the top-ranked European robot in the DRC, completing an almost perfect run in just 34 minutes.
Locomotion Control on Human-Centaur System With Spherical …
Abstract: This paper presents a locomotion controller for a novel human-augmented legged robot, the Centaur robot, which is primarily developed to extend the human's ability to carry load. For such a human-robot walking system, there are requirements for the robot to maintain a balanced posture, provide a proper range of motion for human, and ...
The CENTAURO robot -hybrid mobility legged-wheeled platform.
The Centaur robot is equipped with wheel steering and articulated legs to adjust its supporting gait in response to unknown disturbances [7]. The design method of hybrid legged/wheeled mobile...
Conventional exoskeleton robots typically employ a fixed gait frequency during walking, which can restrict the wearer’s mobility and lead to challenges such as the inability to coordinate obstacle-crossing movements. This paper proposes a centaur robot system based on a synchronized walking control scheme.