Skip to main content
SpringerLink
Log in

Implementation of a Driver Level with Odometry for the LAURON III Hexapod Robot

  • Conference paper
Book cover Climbing and Walking Robots

Abstract

A vision-based robot navigation system was designed as a general platform able to be used with wheeled and legged robots. We adapted our former hexapod robot Lauron III controller with a new driver level that provides all necessary behaviours, such as odometry, to interface it with the general navigation system, thus showing the independence of the navigation system from the specific kind of robot that actually performs the navigation task.

This is a preview of subscription content, log in via an institution to check access.

Access this chapter

Log in via an institution
Chapter
USD 29.95
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever
eBook
USD 269.00
Price excludes VAT (USA)
  • Available as PDF
  • Read on any device
  • Instant download
  • Own it forever

Tax calculation will be finalised at checkout

Purchases are for personal use only

Institutional subscriptions

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. Brooks R.A. (1986) A Robust Layered Control System for a Mobile Robot. IEEE Journal of Robotics and Automation, vol. RA-2, No. 1, March 1986, pp. 14–23.

    Google Scholar 

  2. Celaya E., Torras C. (2002) Visual Navigation Outdoors: the ARGOS Project. Proc. of the 7th. International Conference on Intelligent Autonomous Systems (IAS-7), Marina del Rey, USA, March 2002, pp. 63–67.

    Google Scholar 

  3. Celaya E., Albarral J.L. (2003) Implementation of a hierarchical walk controller for the Lauron III hexapod robot. CLAWAR 2003, 6th. International Conference on Climbing and Walking Robots, Catania, Italy, September 2003, pp. 409–416.

    Google Scholar 

  4. Scholl K.U., Kepplin V., Albiez J., Dillmann R. (2000) Developing robot prototypes with an expandable Modular Controller Architecture. In: Proc. of the 5th. International Conference on Intelligent Autonomous Systems (IAS-5), Venedig, pp. 67–74, June 2000.

    Google Scholar 

Download references

Author information

Authors and Affiliations

  1. Institut de Robòtica i Informàtica Industrial (IRI) UPC-CSIC, Llorens i Artigas 4-6, 08028, Barcelona, Spain

    J.L. Albarral & E. Celaya

Authors
  1. J.L. Albarral
    View author publications

    You can also search for this author in PubMed Google Scholar

  2. E. Celaya
    View author publications

    You can also search for this author in PubMed Google Scholar

Rights and permissions

Reprints and permissions

Copyright information

© 2005 Springer-Verlag Berlin Heidelberg

About this paper

Cite this paper

Albarral, J., Celaya, E. (2005). Implementation of a Driver Level with Odometry for the LAURON III Hexapod Robot. In: Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-29461-9_11

Download citation

  • DOI: https://doi.org/10.1007/3-540-29461-9_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-22992-6

  • Online ISBN: 978-3-540-29461-0

  • eBook Packages: EngineeringEngineering (R0)

Publish with us

Policies and ethics

Search

Navigation