1STAR: 1 actuator STeerAble Robot, Biomimetic Millisystems Lab, Berkeley, California, USA [Archive] - Forums - Portal of Robotics and Artificial Intelligence

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Airicist

15th January 2015, 20:23

Developer - Biomimetic Millisystems Lab (https://pr.ai/showthread.php?2463)

people.eecs.berkeley.edu/~ronf/PAPERS/dzarrouk-1STAR-icra14.pdf (https://people.eecs.berkeley.edu/~ronf/PAPERS/dzarrouk-1STAR-icra14.pdf)

Airicist

15th January 2015, 20:25

https://youtu.be/zu71k8JHiEg

One Actuator Steerable Robot

Published on Jul 1, 2014

We present a novel dynamic gait to control in-plane locomotion (forward, back, clockwise and counter clockwise rotations) of a compliant legged hexapedal robot using a single actuator. The gait exploits the compliance disparity between alternate stance tripods, to generate rotation by controlling the acceleration of the robot. Zarrouk and Fearing ( IEEE ICRA June 2014)