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Experimental Validation of a Template for Navigation of Miniature Legged Robots

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2016 International Symposium on Experimental Robotics (ISER 2016)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 1))

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Abstract

This paper provides experimental evidence in support of the hypothesis that the Switching Four-bar Mechanism (SFM) model may serve as a template for miniature legged systems in quasi-static operation. The evidence suggests that the SFM captures salient motion behaviors of morphologically distinct centimeter-scale legged robots. Captured behaviors are then used for planning and control at small scales, thus demonstrating the practical utility of the SFM in navigation tasks.

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Notes

  1. 1.

    Due to symmetry, the above description holds for the left pair by replacing indices \(\text {1}\) and \(\text {2}\) with indices 3 and 4, respectively.

  2. 2.

    In fact, a duration of 3 s turns out to be a good trade-off between path dispersion, and length which affects the overall computationally complexity; see [12].

  3. 3.

    The number of steps has been chosen empirically to provide adequate resolution for the touchdown and liftoff configurations in 3 sec-long experimental data.

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Acknowledgments

This work is supported in part by NSF under grant IIS-1350721, and by ARL MAST CTA \(\#\) W911NF-08-2-0004.

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Authors and Affiliations

  1. Department of Electrical and Computer Engineering, University of California, 900 University Ave, 357 Bourns Hall B, Riverside, California, 92521, USA

    Konstantinos Karydis

  2. Department of Mechanical Engineering, University of Delaware, 130 Academy Street, Room 126, Newark, Delaware, 19716-3140, USA

    Adam Stager, Herbert G. Tanner & Ioannis Poulakakis

Authors
  1. Konstantinos Karydis
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  2. Adam Stager
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  3. Herbert G. Tanner
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  4. Ioannis Poulakakis
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Corresponding author

Correspondence to Konstantinos Karydis .

Editor information

Editors and Affiliations

  1. Gra Sch of Info Sci&Tech,Dept of MechInf, The University of Tokyo Gra Sch of Info Sci&Tech,Dept of MechInf, Tokyo, Japan

    Dana Kulić

  2. Computer Science Department, Stanford University Computer Science Department, Stanford, California, USA

    Yoshihiko Nakamura

  3. Department of Electrical & Computer Engg, University of Waterloo Department of Electrical & Computer Engg, Waterloo, Ontario, Canada

    Oussama Khatib

  4. Department of Mechanical Systems Enginee, Tokyo University of Agriculture and Tech Department of Mechanical Systems Enginee, Tokyo, Japan

    Gentiane Venture

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Karydis, K., Stager, A., Tanner, H.G., Poulakakis, I. (2017). Experimental Validation of a Template for Navigation of Miniature Legged Robots. In: Kulić, D., Nakamura, Y., Khatib, O., Venture, G. (eds) 2016 International Symposium on Experimental Robotics. ISER 2016. Springer Proceedings in Advanced Robotics, vol 1. Springer, Cham. https://doi.org/10.1007/978-3-319-50115-4_37

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  • DOI: https://doi.org/10.1007/978-3-319-50115-4_37

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