Inertial navigation and visual line following for a dynamical hexapod robot
S Skaff, G Kantor, D Maiwand… - Proceedings 2003 IEEE …, 2003 - ieeexplore.ieee.org
Proceedings 2003 IEEE/RSJ International Conference on Intelligent …, 2003•ieeexplore.ieee.org
This paper presents preliminary development of autonomous sensor-guided behaviors for a
six-legged dynamical robot (RHex). The behaviors represent the 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.
six-legged dynamical robot (RHex). The behaviors represent the 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.
This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). The behaviors represent the 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.
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