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Multi-sensor referenced gait control of a miniature climbing robot

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4 Author(s)
Jizhong Xiao ; Dept. of Electr. Eng., City Univ. of New York, NY, USA ; Ning Xi ; Jun Xiao ; Jindong Tan

This paper describes a gait generation and control approach of a bipedal climbing robot with under-actuated mechanism. The special mechanical structure enables the robot to perform exploration tasks using "crawling", "pivoting" or "climbing" gaits. Multiple sensors are synthesized to generate successful gaits using a finite state machine. Experiments are conducted which demonstrate the effectiveness of proposed approach.

Published in:

Intelligent Robots and Systems, 2003. (IROS 2003). Proceedings. 2003 IEEE/RSJ International Conference on  (Volume:4 )

Date of Conference:

27-31 Oct. 2003