A leg configuration sensory system for dynamical body state estimates in a hexapod robot

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 1, Issue , 2003, Pages 1391-1396

  Lin, Pei Chun ^a   Komsuoglu, Haldun ^a   Kodistchek, Daniel E ^a  

^a UNIVERSITY OF MICHIGAN   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; DEGREES OF FREEDOM (MECHANICS); KINEMATICS; MATHEMATICAL MODELS; STRAIN;

HEXAPOD ROBOT; LEG CONFIGURATION SENSORY SYSTEM;

MOBILE ROBOTS;

EID: 0344153857     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (9)

1. H Komsuoglu. Legnet - a distributed wireless network. Technical report, University of Michigan, 2002.
2. H. Komsuoglu, D. McMordie, U. Saranli, N. Moore, M. Buehler, and D. E. Koditschek. Proprioception based behavioral advances in a hexapod robot. In International Conference on Robotics and Automation, volume 4, pages 3650-3655, Seoul, Korea, 2001.
3. P-C. Lin. Benchtop setting for compliant leg test and modeling. Technical report, University of Michigan, 2003. In preperation.
4. E.Z Moore. Leg design and stair climbing control for the rhex robotic hexapod. Master's thesis, McGill University, November 2001.
5. U. Saranli. Dynamic Locomotion in a Hexapod Robot. PhD thesis, University of Michigan, 2002.
6. U. Saranli and D. E. Koditschek. Back flips with a hexapodal robot. In IEEE International Conference on Robotics and Automation, volume 3, pages 2209-2215, 2002.
7. G. Sharp. Ground truth measurement system, 2003. http://sourceforge.net/projects/gtms/.
8. Saranli U., M. Buehler, and D. E. Koditschek. Rhex - a simple and highly mobile hexapod robot. International Journal of Robotics Research, 20:616-631, 2001.
9. Joel D. Weingarten, Martin Buehler, Richard E. Groff, and Daniel E. Koditschek. Automated gait generation and optimization for legged robots. 2003. In preperation.