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Algorithms of motion planning for a six-legged walking machine

✍ Scribed by V. M. Budanov


Publisher
Springer US
Year
2007
Tongue
English
Weight
124 KB
Volume
146
Category
Article
ISSN
1573-8795

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A six-legged hydraulic walking machine, called MECANT I, is introduced. It has been developed for research purposes in outdoor environments. The paper describes the motion planning method used. It is based on a "top-down" appcoach where the vehicle body motion control is executed through the body mo