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Thread: 1STAR: 1 actuator STeerAble Robot, Biomimetic Millisystems Lab, Berkeley, California, USA

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    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)

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