— This paper extends the authors’ previous results on fault tolerant locomotion of the hexapod robot on even terrain by relaxing nonoverlap of redefined reachable cells of leg...
This paper describes a six-legged robot based on the features of an agile insect, the American cockroach, Periplaneta americana. The robot is designed with insect-like leg structu...
Abstract— This paper introduces the concept of gait transitions, acyclic feedforward motion patterns that allow a robot to switch from one gait to another. Legged robots often ut...
This paper outlines aspects of locomotor control in insects that may serve as the basis for the design of controllers for autonomous hexapod robots. Control of insect walking can b...
We demonstrate an adaptation strategy for adjusting the stride period in a hexapedal running robot. The robot is inspired by discoveries about the self-stabilizing properties of i...
Jonathan K. Karpick, Jorge G. Cham, Jonathan E. Cl...