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Small obstacles are difficult to be detected and having their position precisely established from vision or other stereo obstacle detecting systems thus needing to be treated locally by the robot legs and foot. This work deals with the obstacle overcoming and curved walking capabilities of a four legged walking robot. Obstacle overcoming and avoidance is done using only information from contact sensors...
The paper deals with the four legged walking robot Guará, built with obstacle overcoming capabilities. It was designed as a research robot platform, to be used in indoor environment, walking straight and curved paths and detecting and overcoming known obstacles. Straight paths are done with gait matrix strategy and curved paths are accomplished by the four legs which have differential strokes in...
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