Motion and Modular Architecture
نویسنده
چکیده
This paper presents an implementation of an architectural module that corresponds to a long serial chain modular robot. As such, this configuration poses possibilities that can move using travelling wave gaits based on snakes and caterpillars. The gaits are controlled with a Gait Control Table which is a simple but powerful way to coordinate the motion of a multiple degree-of-freedom systems. The gaits are implemented on a selfsufficient modular reconfigurable robot with onboard power, computation, sensors and actuators.
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تاریخ انتشار 2011