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Experimental evaluation of perception and actuation architectures for the articulated vehicle automatic control

Armada M., Montes H., Salinas C., Sarria J.

Pomiary Automatyka Robotyka

2010

R. 14, nr 2

67-72

Nowadays, with highly developed instrumentation, sensing and actuation technologies it is possible to foresee an important advance in the field of autonomous and semi-autonomous transportation systems. Among the most promising transport infrastructures the articulated bus is an interesting, low cost and friendly option. In this paper an experimental set-up for research on automatic control of articulated bus is presented. Comprised by a mobile platform (the articulated bus) fully instrumented and a ground test area of asphalt roads inside CSIC premises, this experimental facility allows full testing of automatic driving systems. Paper presents obtained experimental results linked to real time testing of proposed control-perception architectures and a human-machine-interface developed to ease progress in control system evaluation.

Nonlinearly actuated biped robot leg: Simulation and experimental results

Caballero R., Akinfiev T., Armada M.

Systems Science

2001

Vol. 27, nr 4

59-70

In this paper, a new way for driving the joints of a biped robot leg by using a special purpose non-linear actuator is presented. In the authors' opinion, using constant transmission ratio in each biped robot joint is not the right choice, specially if the speed of movement, stability, and autonomy are among the main goals. The objective of this paper is to show simulation and experimental results of a nonlinear transmission ratio driven leg that naturally compensates gravity forces and provides self-decreasing velocity as it approximates to the end points of its nominal trajectory, without losing locomotion kinematics capabilities.