Design and simulation of a cockroach-like hexapod robot

  title={Design and simulation of a cockroach-like hexapod robot},
  author={Gabriel M. Nelson and Roger D. Quinn and Richard J. Bachmann and W. C. Flannigan and Roy E. Ritzmann and J. T. Watson},
  journal={Proceedings of International Conference on Robotics and Automation},
  pages={1106-1111 vol.2}
  • G. Nelson, R. Quinn, +3 authors J. T. Watson
  • Published 1997
  • Engineering, Computer Science
  • Proceedings of International Conference on Robotics and Automation
This paper describes the design and simulation of a cockroach-like hexapod robot which is under construction for the purpose of testing control principles which are being extracted from the cockroach. The cockroach was chosen because of its remarkable running and climbing capabilities and because much is known about its biomechanics and control. The robot is designed with five, four, and three degrees of freedom in the front, middle and rear legs, respectively, to permit it to mimic the… Expand
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