A Template for Miniature Legged Robots in Quasi-Static Motion
نویسندگان
چکیده
We introduce a low-dimensional kinematic abstraction—i.e., template—for miniature legged robots that can be used for quasi-static motion planning in the horizontal plane. The template comprises a rigid torso and four rigid legs which engage in an alternating tetrapod gait. As the gait is executed, the torso and the legs form two switching four-bar linkages, parameterized by the leg touchdown and liftoff angles, as well as the leg angular velocity. The template captures on average the experimentally observed behavior of an eight-legged miniature robot crawling at low speeds in a quasi-static fashion.
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