Developer - Biomimetic Millisystems Lab
people.eecs.berkeley.edu/~ronf/PAPERS/dzarrouk-1STAR-icra14.pdf
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https://youtu.be/zu71k8JHiEg
One Actuator Steerable Robot
Published on Jul 1, 2014
Quote:
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)