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From Morphologies of Six-, Four- and Two-Legged Animals to the HexaQuaBip Robot’s Reconfigurable Kinematics

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Intelligent Robotics and Applications (ICIRA 2009)

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Abstract

How can we go beyond the locomotor versatility of current legged robots? We propose an approach, called HexaQuaBip, based on merging the most prevalent legged animal morphologies in a bioinspired polymorphic yet non-modular robot, intended to be able to reconfigure in either hexapodal, quadrupedal or bipedal modes. This paper focuses on reviewing main types of 6-, 4- and 2-legged animal kinematics and results in integrating all of them into a reconfigurable kinematic structure.

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Veinguertener, A., Hoinville, T., Bruneau, O., Fontaine, JG. (2009). From Morphologies of Six-, Four- and Two-Legged Animals to the HexaQuaBip Robot’s Reconfigurable Kinematics. In: Xie, M., Xiong, Y., Xiong, C., Liu, H., Hu, Z. (eds) Intelligent Robotics and Applications. ICIRA 2009. Lecture Notes in Computer Science(), vol 5928. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-10817-4_126

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  • DOI: https://doi.org/10.1007/978-3-642-10817-4_126

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-10816-7

  • Online ISBN: 978-3-642-10817-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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