Controlled In-Plane Locomotion of a Hexapod Using a Single Actuator

@article{Zarrouk2015ControlledIL,
  title={Controlled In-Plane Locomotion of a Hexapod Using a Single Actuator},
  author={David Zarrouk and Ronald S. Fearing},
  journal={IEEE Transactions on Robotics},
  year={2015},
  volume={31},
  pages={157-167}
}
This paper presents “1STAR,” which is the first robot that is driven by a single actuator but can be directly commanded to move straight or turn clockwise or counterclockwise. The legged robot relies on a novel actuation gait, which exploits the compliance disparity between alternate stance tripods, to generate rotation by continuously accelerating and decelerating the legs. The direction of turning depends on the configuration of the legs-tripod left or right-and the timing of the acceleration… CONTINUE READING
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