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A navigable six-legged robot platform

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3 Author(s)
Yanto Go ; University of Notre Dame ; XiaoLei Yin ; Bowling, A.

This work addresses the navigability of a six-legged robot which is accomplished through the development of a simple discretized error correction method used in the closed-loop controller. The control is based on a kinematic model of the hexapod which is used to correct the heading and drift errors from the desired motion. Experimental validation of the controller??s performance is also presented.

Published in:

Robotics and Automation, 2004. Proceedings. ICRA '04. 2004 IEEE International Conference on  (Volume:5 )

Date of Conference:

April 26 2004-May 1 2004