The SILO4 Walking Robot: Publications
Books
P. Gonzalez de Santos, E. Garcia and J. Estremera, QUADRUPEDAL LOCOMOTIOIN: An Introduction to the Control of Four-Legged Robots, Springer, London, 2006.
Journals
E. Garcia and P. Gonzalez de Santos, “On the improvement of walking performance in natural environments by a compliant adaptive gait”, IEEE Transactions on Robotics, Vol. 22, No. 5, pp: 1240-1253, December 2006.
J. Estremera and P. Gonzalez de Santos, "Generating continuous free crab gaits for quadruped robots on irregular terrain", IEEE Transactions on Robotics, Vol. 21, No. 6, pp: 1067-1076, December 2005.
J. Estremera, P. Gonzalez de Santos and J .A. Lopez-Orozco, "Neural virtual sensor for terrain adaptation of walking machines", Journal of Robotic Systems, Vol. 22, No. 6, pp: 299-311, 2005.
E. Garcia and P. Gonzalez de Santos, "An improved energy stability margin for walking machines subject to dynamic effect, Robotica (Cambridge University Press), Vol. 23, pp: 13-20, 2005.
P. Gonzalez de Santos, J. Estremera, E. Garcia and M. Armada, "Including Joint Torques and Power Consumption in the Stability Margin of Walking Robots", Autonomous Robots, Vol. 18, pp: 43-57, January 2005.
Tomas A. Guardabrazo and P. Gonzalez de Santos,"Building an energetic model to evaluate and optimize power consumption in walking robots", Industrial Robot, Vol. 31, No. 2, pp: 201-204, March 2004.
P. Gonzalez de Santos, J.A. Galvez, J. Estremera and E. Garcia, "SILO4 - A true walking robot for the comparative study of walking machine techniques", IEEE Robotics and Automation Magazine, Vol. 10, N. 4, pp. 23-32. December 2003.
Garcia, E., Galvez, J.A. and Gonzalez de Santos, P., "On finding the relevant dynamics for model based controlling walking robots", Journal of Intelligent and Robotic Systems, Vol. 37, No.4, pp. 375-398, August 2003.
J.A. Galvez, J. Estremera and P. Gonzalez de Santos, "A new legged-robot configuration for research in force distribution", Mechatronics, Vol. 13, pp. 907-932, 2003.
Garcia, E., Estremera, J. and Gonzalez de Santos. P., "A comparatice study of stability margins for walking machines", Robotica, Vol. 20 , No. 6, pp. 595-606. November, 2002.
E. Garcia, P. Gonzalez de Santos and C. Canudas de Wit, "Velocity dependance in the Cyclic Friction Arising with Gears", The International Journal of Robotics Research, Vol. 21 , No. 9, pp. 761-771. Septembre, 2002.
Estremera, J., Garcia, E. and Gonzalez de Santos, P., "A Multi-Modal and Collaborative Human-Machine Interface for a Walking Robot ," Journal of Intelligent and Robotic Systems Vol. 35, pp. 397-425, 2002.
Gonzalez de Santos, P., Armada, M.A., Estremera, J., Galvez, J.A., Garcia, E., Prieto, M. and Uquillas, M., "SILO4: A Four-legged Test-bed for Educational and Research Purposes," CLAWAR NEWS, Vol. 4, pp. 10-12, 2000.
Ph.D. Theses
Galvez, J.A., Perception, control and force distribution in legged robots, Ph.D. Thesis, Technical University of Madrid, 2002.
Estremera, J., Generation of free gaits for walking robots: Aplication to SILO4, Technical University of Madrid, MSc. Thesis, 2000.
Conferences
E. Garcia and P Gonzalez de Santos, "Controlling dynamic stability and active compliance to improve quadrupedal walking", 8th International Conference on Climbing and Walking Robots (CLAWAR-2005), 13-15 September, 2005, London, U.K., pp: 205-212.
J.A. Cobano, J. Estremera, P. Gonzalez de Santos, A localization algorithm for outdoor trajectory tracking with legged robots", 7th Internacional Conference on Climbing and Walking Robots (CLAWAR-2004), pp: 1119-1126, Madrid, Spain, 22-24 September, 2004
Estremera, J., Garcia, E. and González de Santos, P. "Continuous free crab gait for quadruped robots on irregular terrain", 6th International Conference on Climbing and Walking Robots (CLAWAR-2003), Catania, Italia, pp: 585-592, September 2003.
Guardabrazo, T., Jiménez, M.A. and González de Santos, P. "A detailed power consumption model for walking robots"; 6th International Conference on Climbing and Walking Robots Robots (CLAWAR-2003), Catania, Italia, pp: 235-224, Septiembre 2003.
E. Garcia and P. Gonzalez de Santos, "A new dynamic stability margin for walking machines", 11th International Conference on Advanced Robotics, ICAR 2003, June 30- July 3, pp. 1014-1019, 2003.Estremera, J., Garcia, E. and González de Santos, P., "Ground detection on walking machines using neural networks," 5th International Conference on Climbing and Walking Robots, Paris (France), pp: 247-254, September 2002.
Garcia, E., Estremera, J. and González de Santos, P.,"A clasification of stability margins for walkign robots", 5th International Conference on Climbing and Walking Robots, Paris (France), pp: 799-808, September 2002.
Garcia, E. and Gonzalez de Santos, P. "Fuzzy Optimization of Foot-Trajectories Profiles in Walking Machines," An International Conference in Fuzzy Logic and Technology (EUSFLAT 2001), Leicester (U.K.), pp: 494-497, 2001.Garcia, E. and Gonzalez de Santos, P. "Relevant friction effects on walking machines," 4th International Conference on Climbing and Walking, Robots: From biology to industrial applications, Karlsrhue (Germany), pp: 135-142, 2001.
Estremera, J. and Gonzalez de Santos, P., "Discontinuous free-crab generation for four legged robots," 4th International Conference on Climbing and Walking, Robots: From biology to industrial applications, Karlsrhue (Germany), pp: 703-710, 2001.
Estremera, J. , Garcia, E. and Gonzalez de Santos, P. "Human-machine interface of the SILO4 walking robot," 3rd International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, Madrid (Spain), pp: 629-641, 2000.
Galvez, J.A., González de Santos, P. and Armada, M.A. "A Force Controlled Robot for Agile Walking on Rough Terrain," ICV’98 Intelligent Components for Vehicles, Seville (Spain), 1998.