Parametric models for motion planning and control in biomimetic robotics

Abstract

We describe the design, testing and tools to build parametric models of a six-legged cockroach-like robot for velocity control without precise knowledge on the robot's geometry or its inertia. Robot legs were made by Shape Deposition Manufacturing and were compliant at the "knee". These kinds of robots usually have a limited number of actuators and a small… (More)
DOI: 10.1109/TRO.2004.833820

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@article{Dordevic2005ParametricMF, title={Parametric models for motion planning and control in biomimetic robotics}, author={Goran S. Dordevic and Milan Rasic and Reza Shadmehr}, journal={IEEE Transactions on Robotics}, year={2005}, volume={21}, pages={80-92} }