Model-Based Development of Leaping in a Hexapod Robot

@article{Chou2015ModelBasedDO,
  title={Model-Based Development of Leaping in a Hexapod Robot},
  author={Ya Cheng Chou and Ke Jung Huang and Wei-Shun Yu and Pei-Chun Lin},
  journal={IEEE Transactions on Robotics},
  year={2015},
  volume={31},
  pages={40-54}
}
We report on the model-based development of leaping behavior in a RHex-style hexapod robot. A three-legged model is proposed to analyze the dynamic behavior of leaping, and this serves as a guide for implementing the behavior on the empirical robot. The model has a rigid body and three massless and compliant legs, which have rolling contact with the ground for better modeling the leg behavior of the empirical robot. By investigating the model's behavior, a two-step leaping maneuver is developed… CONTINUE READING

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