Abstract
In this paper, we analyze the walking stability of a multi-legged locomotion robot. Based on dynamic characteristics, we propose a strategy for turning whose effectiveness is verified by numerical simulations. The robot can turn more efficiently with fewer slips after decreasing walking stability. That is, the maneuverability of the robot increases by changing the dynamic properties of the robot.
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© 2006 Springer-Verlag Tokyo
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Tsuchiya, K., Aoi, S., Tsujita, K. (2006). A Turning Strategy of a Multi-legged Locomotion Robot. In: Kimura, H., Tsuchiya, K., Ishiguro, A., Witte, H. (eds) Adaptive Motion of Animals and Machines. Springer, Tokyo. https://doi.org/10.1007/4-431-31381-8_20
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DOI: https://doi.org/10.1007/4-431-31381-8_20
Publisher Name: Springer, Tokyo
Print ISBN: 978-4-431-24164-5
Online ISBN: 978-4-431-31381-6
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