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An obstacle avoidance method using a virtual impedance wall is proposed for a multi-legged robot. The swing legs use compliance control to make soft contact and avoid colliding with objects, so that the robot maintains the moving direction as far as possible while the swing legs maintain a preferred operating region. The preferred operating region is surrounded with a virtual impedance wall. When...
Grid wall walking promises attractive 3-D mobility for multi-legged robots. The robot hangs the grids by its multi-legs so that the stable positioning is achieved. The grid environments are implemented by assembling iron wires in a matrix. The artificial environment can be good for the robots by considering robot's ability. The grid wall will be attached on various wall and ceiling. The robot has...
New dynamic rolling-walk motion for multi-legged robot is proposed. The motion is realized by using the isotropic leg arrangement and the dynamic center of mass (COM) control inspired by bipedal robots. In the new dynamic rolling-walk motion, the robot switches between two phases to achieve the motion; three legs supporting phase and two legs supporting phase. By using the Preview Control with table-cart...
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