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BC
2004
73views more  BC 2004»
13 years 11 months ago
Dynamics and stability of insect locomotion: a hexapedal model for horizontal plane motions
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
DCG
2007
76views more  DCG 2007»
13 years 11 months ago
Packing Cones and Their Negatives in Space
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...
Imre Bárány, Jirí Matousek
ICRA
2003
IEEE
91views Robotics» more  ICRA 2003»
14 years 4 months ago
Visual registration and navigation using planar features
— 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...
Gabriel A. D. Lopes, Daniel E. Koditschek