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While humanoid robots and various associated algorithms for gait control and motion planning have been considered in the prior literature, the possibility of utilizing a low-profile crawling gait to operate in tight spaces (e.g., going under obstacles) has not been considered previously and enables new capabilities of the humanoid robot. In this paper, a new gait for humanoid robots is presented that...
In this paper, we propose a novel six degree-of-freedom positioning system. This mechanism is a tripod structure with inextensible limbs actuated at the base by two-dimensional linear stepper motors (other types of actuators may also be utilized). This manipulator has a closed-chain kinematic structure. Both the direct and the inverse kinematics of the manipulator are presented in detail. While the...
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