<title>Development of legged robots for use in disordered environments</title>

摘要

The SIC/R laboratory is conducting a research program called Autonomy of Mobile Robots in Unstructured Environments (AMRU), focusing on the realization of light low-cost legged robots for indoor and outdoor applications, study of image and speech processing, development of path planners. This paper summarizes the description of the first four robots (AMRU 1 to 4) of the table 1. Low cost allows the sacrifice and the replacement of the robots used in dangerous environmental conditions (minefield, battlefield, nuclear site, etc.) and implies the choice of low level proprioceptive and exteroceptive sensors coupled with a simple digital control system, light structure facilitates their transportation (by air, land or sea) to the application site.