CORDIS proporciona enlaces a los documentos públicos y las publicaciones de los proyectos de los programas marco HORIZONTE.
Los enlaces a los documentos y las publicaciones de los proyectos del Séptimo Programa Marco, así como los enlaces a algunos tipos de resultados específicos, como conjuntos de datos y «software», se obtienen dinámicamente de OpenAIRE .
Resultados aprovechables
The PALAIOMATION II project aimed to further develop the technology of freely-moving, self contained electrically actuated systems, offering full autonomy, controllability and higher versatility. Such systems represent a new generation of Museum exhibits, into which the industrial SMEs of the project are aiming to invest. Additionally, the technological potential of the legged robot mobility platforms is expected to be exploited for a number of hazard-related activities such as monitoring and surveillance of sites involving hazards for humans, patrolling areas etc.
Gradually, a large number of potential application are expected to become open for highly sophisticated autonomous or tele-operated robotic systems. These include land-mine detection and disposal, handling of hazardous materials, dismantling within contaminated areas etc. It can also be expected that through the proposed development, a rapid drop of the cost of such robotic systems will also open the way towards other applications for ground adaptive, highly efficient mobile platforms, such as areas of agricultural harvesting and forestry.
The PALAIOMATION II project has obtained its target and obtained the development of a self contained four legged systems of 3.5m of length and a total estimated mass of 80kg plus 18kg of payload (battery) with an operational life before recharging of approximately 120 minutes.
The main issues covered were the following:
1. Optimisation regarding the lightness of the structures with the potential use of composite materials.
2. Motorisation and Mechanical transmission system design for highest energy efficiency during locomotion and minimum energy requirements, such as spring compensation of gravitational forces, use of specially designed mechanical transmission and electrical power control stages for motorisation, permitting energy savings during deceleration and stop, etc.
3. The hybrid (model based with sensor based adaptation) control modes is further enhanced with layers of distributed micro-controller modules, permitting active compensation of dynamic modes due to structural flexibility, as well as the implementation of a number of higher level stability modes.
4. Man-machine interface platform supporting 3D graphics environment with simulation of the 4-leg platform in a JAVA environment; possibility of validation of walking algorithms as well as programming of missions.
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