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Parametric models for motion planning and control in biomimetic robotics
2005
IEEE Transactions on robotics
We describe the design, testing and tools to build parametric models of a six-legged cockroach-like robot for velocity control without precise knowledge on the robot's geometry or its inertia. Robot legs were made by Shape Deposition Manufacturing and were compliant at the "knee." These kinds of robots usually have a limited number of actuators and a small number of low-cost sensors. Consequently, they are difficult to control with analytic models. Our goal was to design a very fast robot that
doi:10.1109/tro.2004.833820
fatcat:fgj354wx4fcupolfuke4welibu