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Realization and control of a prototype of legged rover for planetary exploration

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5 Author(s)
M. Massari ; Dept. of Aerosp. Eng., Politecnico di Milano, Milan ; P. Massioni ; S. Nebuloni ; G. Sangiovanni
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This paper concerns the development of a prototype of a six-legged robot for space exploration. The robot is a testbed for a new control technique based on a peculiar kind of artificial neural network. Accounts are given on the shape and structure of the hexapod, and a brief description of its electronic circuit and computer interface is shown. The paper ends with the results of the tests on two different control systems (a standard one and the neural network based) and the comparison between the properties of the two methods

Published in:

Proceedings, 2005 IEEE/ASME International Conference on Advanced Intelligent Mechatronics.

Date of Conference:

24-28 July 2005