Laboratory on legs: an architecture for adjustable morphology with legged robots

@inproceedings{Haynes2012LaboratoryOL,
  title={Laboratory on legs: an architecture for adjustable morphology with legged robots},
  author={G. Clark Haynes and J. L. Pusey and Ryan Richard Knopf and Aaron M. Johnson and Daniel E. Koditschek},
  booktitle={Defense, Security, and Sensing},
  year={2012}
}
For mobile robots, the essential units of actuation, computation, and sensing must be designed to fit within the body of the robot. Additional capabilities will largely depend upon a given activity, and should be easily reconfigurable to maximize the diversity of applications and experiments. To address this issue, we introduce a modular architecture originally developed and tested in the design and implementation of the X-RHex hexapod that allows the robot to operate as a mobile laboratory… CONTINUE READING
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