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Carnegie Mellon Robotics Institute

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Abstract

This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). These behaviors represent the first exteroceptive closed-loop locomotion strategies for this system. Simple motion models for RHex are described and used to deploy controllers for inertial straight line locomotion and visual line following. Results are experimentally validated on the robot.

Notes

Associated Lab(s) / Group(s): Microdynamic Systems Laboratory

Associated Project(s): RHex Robot

Number of pages: 6

Text Reference

Sarjoun Skaff, George A. Kantor, David Maiwand, and Alfred Rizzi, "Inertial navigation and visual line following for a dynamical hexapod robot," 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), October, 2003, pp. 1808-1813.

BibTeX Reference

@inproceedings{Skaff_2003_4558,
   author = "Sarjoun Skaff and George A Kantor and David Maiwand and Alfred Rizzi",
   title = "Inertial navigation and visual line following for a dynamical hexapod robot",
   booktitle = "2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)",
   pages = "1808-1813",
   month = "October",
   year = "2003",
   volume = "2",
}

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