{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T11:59:37Z","timestamp":1762430377669,"version":"3.41.2"},"reference-count":16,"publisher":"Emerald","issue":"4","license":[{"start":{"date-parts":[[2009,6,19]],"date-time":"2009-06-19T00:00:00Z","timestamp":1245369600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,6,19]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to describe an innovative compliance control architecture for hybrid multi\u2010legged robots. The approach was verified on the hybrid legged\u2010wheeled robot ASGUARD, which was inspired by quadruped animals. The adaptive compliance controller allows the system to cope with a variety of stairs, very rough terrain, and is also able to move with high velocity on flat ground without changing the control parameters.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>The paper shows how this adaptivity results in a versatile controller for hybrid legged\u2010wheeled robots. For the locomotion control we use an adaptive model of motion pattern generators. The control approach takes into account the proprioceptive information of the torques, which are applied on the legs. The controller itself is embedded on a FPGA\u2010based, custom designed motor control board. An additional proprioceptive inclination feedback is used to make the same controller more robust in terms of stair\u2010climbing capabilities.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>The robot is well suited for disaster mitigation as well as for urban search and rescue missions, where it is often necessary to place sensors or cameras into dangerous or inaccessible areas to get a better situation awareness for the rescue personnel, before they enter a possibly dangerous area. A rugged, waterproof and dust\u2010proof corpus and the ability to swim are additional features of the robot.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>Contrary to existing approaches, a pre\u2010defined walking pattern for stair\u2010climbing was not used, but an adaptive approach based only on internal sensor information. In contrast to many other walking pattern based robots, the direct proprioceptive feedback was used in order to modify the internal control loop, thus adapting the compliance of each leg on\u2010line.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910957084","type":"journal-article","created":{"date-parts":[[2009,6,13]],"date-time":"2009-06-13T07:08:30Z","timestamp":1244876910000},"page":"331-339","source":"Crossref","is-referenced-by-count":14,"title":["Adaptive compliance control of a multi\u2010legged stair\u2010climbing robot based on proprioceptive data"],"prefix":"10.1108","volume":"36","author":[{"given":"Markus","family":"Eich","sequence":"first","affiliation":[]},{"given":"Felix","family":"Grimminger","sequence":"additional","affiliation":[]},{"given":"Frank","family":"Kirchner","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"key":"key2022020919545675700_b16","doi-asserted-by":"crossref","unstructured":"Allen, T., Quinn, R., Bachmann, R. and Ritzmann, R. (2003), \u201cAbstracted biological principles applied with reduced actuation improve mobility of legged vehicles\u201d, Proceedings of 2003 IEEE\/RSJ International Conference on Intelligent Robots and Systems (IROS2003), Vol. 2, pp. 1370\u20105.","DOI":"10.1109\/IROS.2003.1248835"},{"key":"key2022020919545675700_b7","doi-asserted-by":"crossref","unstructured":"Ayers, J. (2002), \u201cA conservative biomimetic control architecture for autonomous underwater robots\u201d, in Ayers, J., Davis, J. and Rudolph, A. (Eds), Neurotechnology for Biomimetic Robots, MIT Press, Cambridge, MA, pp. 241\u201060.","DOI":"10.7551\/mitpress\/4962.001.0001"},{"key":"key2022020919545675700_b1","doi-asserted-by":"crossref","unstructured":"Eich, M., Grimminger, F. and Kirchner, F. (2008a), \u201cAdaptive stair\u2010climbing behaviour with a hybrid legged\u2010wheeled robot\u201d, paper presented at 11th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), Coimbra, Portugal, 8\u201010 September 2008.","DOI":"10.1142\/9789812835772_0093"},{"key":"key2022020919545675700_b2","unstructured":"Eich, M., Grimminger, F., Bosse, S., Spenneberg, D. and Kirchner, F. (2008b), \u201cAsguard: a hybrid legged wheel security and sar\u2010robot using bio\u2010inspired locomotion for rough terrain\u201d, paper presented at IARP\/EURON Workshop on Robotics for Risky Interventions and Environmental Surveillance, Benicssim, Spain 7\u20108 January 2008."},{"key":"key2022020919545675700_b10","doi-asserted-by":"crossref","unstructured":"Fukuoka, A.H.C.Y. and Kimura, H. (2003), \u201cAdaptive dynamic walking of a quadruped robot on irregular terrain based on biological concepts\u201d, International Journal of Robotics Research, Vol. 22, pp. 187\u2010202.","DOI":"10.1177\/0278364903022003004"},{"key":"key2022020919545675700_b14","unstructured":"Haynes, G.C. and Rizzi, A. (2006), \u201cGaits and gait transitions for legged robots\u201d, Proceedings of the 2006 IEEE International Conference on Robotics and Automation (ICRA '06), May 2006."},{"key":"key2022020919545675700_b15","doi-asserted-by":"crossref","unstructured":"Herbert, S.D., Drenner, A. and Papanikolopoulos, N. (2008), \u201cLoper: a quadruped\u2010hybrid stair\u2010climbing robot\u201d, Proceedings of the 2008 IEEE Conference on Robotics and Automation, Pasadena, May 2008.","DOI":"10.1109\/ROBOT.2008.4543303"},{"key":"key2022020919545675700_b9","unstructured":"Ijspeert, A. and Kodjabachian, J. (1998), \u201cEvolution and development of a central pattern generator for the swimming of a lamprey\u201d, available at: citeseer.ist.psu.edu\/article\/ijspeert98evolution.html."},{"key":"key2022020919545675700_b8","doi-asserted-by":"crossref","unstructured":"Kirchner, F., Spenneberg, D. and Linnemann, R. (2002), \u201cA biologically inspired approach towards robust real world locomotion in an 8\u2010legged robot\u201d, in Ayers, J., Davis, J. and Rudolph, A. (Eds), Neurotechnology for Biomimetic Robots, MIT Press, Cambridge, MA.","DOI":"10.7551\/mitpress\/4962.003.0032"},{"key":"key2022020919545675700_b13","doi-asserted-by":"crossref","unstructured":"Komsuoglu, H., McMordie, D., Saranli, U., Moore, D., Buehler, M. and Koditschek, D.E. (2001), \u201cProprioception based behavioral advances in hexapod robot\u201d, Proceedings of the IEEE International Conferences on Robotics and Automation, Seoul, Korea, 21\u201026 May, 2001, pp. 3650\u20105.","DOI":"10.1109\/ROBOT.2001.933184"},{"key":"key2022020919545675700_b12","unstructured":"Moore, E. and Buehler, M. (2001), \u201cStable stair climbing in a simple hexapod robot\u201d, available at: citeseer.ist.psu.edu\/moore01stable.html."},{"key":"key2022020919545675700_b4","doi-asserted-by":"crossref","unstructured":"Quinn, R.D., Offi, J., Kingsley, D. and Ritzmann, R. (2002), \u201cImproved mobility through abstracted biological principles\u201d, paper presented at IEEE\/RSJ International Conference on Intelligent Robots and System, Vol. 3, pp. 2652\u20107.","DOI":"10.1109\/IRDS.2002.1041670"},{"key":"key2022020919545675700_b3","doi-asserted-by":"crossref","unstructured":"Saranli, U., Buehler, M. and Koditschek, D. (2001), \u201cRHEX: a simple and highly mobile hexapod robot\u201d, The International Journal of Robotics Research, Vol. 20 No. 7, pp. 616\u201031.","DOI":"10.1177\/02783640122067570"},{"key":"key2022020919545675700_b6","unstructured":"Sillar, K.T., Kiehn, O. and Kudo, N. (1997), \u201cChemical modulation of vertebrate motor circuits\u201d, in Stein, P., Grillner, S., Selverston, A.I. and Stuart, D. (Eds), Neurons, Networks and Motor Behavior, MIT Press, Cambridge, pp. 183\u201093."},{"key":"key2022020919545675700_b11","unstructured":"Spenneberg, D. and Kirchner, F. (2008) in Zhang, H. (Ed.), The Bio\u2010Inspired Scorpion Robot: Design, Control & Lessons Learned, I\u2010Tech Education and Publishing, Vienna, pp. 197\u2010218."},{"key":"key2022020919545675700_b5","doi-asserted-by":"crossref","unstructured":"Stein, P. (1978), \u201cMotor systems, with specific reference to the control of locomotion\u201d, Annual Review of Neuroscience, Vol. 1, pp. 61\u201081.","DOI":"10.1146\/annurev.ne.01.030178.000425"}],"container-title":["Industrial Robot: An International Journal"],"original-title":[],"language":"en","link":[{"URL":"http:\/\/www.emeraldinsight.com\/doi\/full-xml\/10.1108\/01439910910957084","content-type":"unspecified","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910957084\/full\/xml","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/www.emerald.com\/insight\/content\/doi\/10.1108\/01439910910957084\/full\/html","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2025,7,24]],"date-time":"2025-07-24T23:50:26Z","timestamp":1753401026000},"score":1,"resource":{"primary":{"URL":"http:\/\/www.emerald.com\/ir\/article\/36\/4\/331-339\/184129"}},"subtitle":[],"editor":[{"given":"Kenneth J.","family":"Waldron","sequence":"first","affiliation":[]}],"short-title":[],"issued":{"date-parts":[[2009,6,19]]},"references-count":16,"journal-issue":{"issue":"4","published-print":{"date-parts":[[2009,6,19]]}},"alternative-id":["10.1108\/01439910910957084"],"URL":"https:\/\/doi.org\/10.1108\/01439910910957084","relation":{},"ISSN":["0143-991X"],"issn-type":[{"type":"print","value":"0143-991X"}],"subject":[],"published":{"date-parts":[[2009,6,19]]}}}