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We develop a simple hexapedal model for the dynamics of insect locomotion in the horizontal plane. Each leg is a linear spring endowed with two inputs, controlling force-free lengt...
Justin E. Seipel, Philip J. Holmes, Robert J. Full
Let C be a cone in R3 whose base B is a planar convex body in a horizontal plane π and whose tip is a point v /∈ π. Let C be a packing formed by translates of C and −C in R3...
— This paper addresses the problem of registering the hexapedal robot, RHex, relative to a known set of beacons, by real-time visual servoing. A suitably constructed navigation f...