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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Nelson, G.M. Quinn, R.D. |
| Copyright Year | 1998 |
| Description | Author affiliation: Dept. of Mech. & Aerosp. Eng., Case Western Reserve Univ., Cleveland, OH, USA (Nelson, G.M.) |
| Abstract | Describes the posture controller for a new cockroach-like hexapod robot developed in the Bio-Robotics Laboratory at Case Western Reserve University. The posture controller is based upon the virtual model control scheme and the problem of redundant kinematics is solved using an optimization approach. It does not just control static posture, but is the major component of a future locomotion controller. The robot has complex, animal-like kinematics with 24 degrees of freedom, yet the controller effectively manages its posture despite large perturbations. The algorithm is also computationally efficient. |
| Starting Page | 157 |
| Ending Page | 162 |
| File Size | 736886 |
| Page Count | 6 |
| File Format | |
| ISBN | 078034300X |
| ISSN | 10504729 |
| DOI | 10.1109/ROBOT.1998.676348 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 1998-05-20 |
| Publisher Place | Belgium |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Leg Legged locomotion Kinematics Animals Turning Nervous system Foot Robot sensing systems Valves Aerospace engineering |
| Content Type | Text |
| Resource Type | Article |
| Subject | Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software |
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