Phase coordination and phase-velocity relationship in metameric robot locomotion.

@article{Fang2015PhaseCA,
  title={Phase coordination and phase-velocity relationship in metameric robot locomotion.},
  author={Hongbin Fang and Suyi Li and Kun Wang and Jian Xu},
  journal={Bioinspiration & biomimetics},
  year={2015},
  volume={10 6},
  pages={066006}
}
This research proposes a new approach for the control of metameric robot locomotion via phase coordination. Unlike previous studies where global wave-like rules were pre-specified to construct the actuation sequence of segments, this phase coordination method generates robot locomotion by assigning the actuation phase differences between adjacent segments without any global prerequisite rules. To effectively coordinate the phase differences, different symmetry properties are introduced… CONTINUE READING

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