A Physical Model for Dynamical Arthropod Running on Level Ground

机译：在水平地面上运行的节肢动物的物理模型

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Arthropods with their extraordinary locomotive capabilities have inspired roboticists, giving rise to major accomplishments in robotics research over the past decade. Most notably bio-inspired hexapod robots using only task level open-loop controllers [22, 9] exhibit stable dynamic locomotion over highly broken and unstable terrain. We present experimental data on the dynamics of SprawlHex- a hexapod robot with adjustable body sprawl - consisting of time trajectory of full body configuration and single leg ground reaction forces. The dynamics of SprawlHexis compared and contrasted to that of insects. SprawlHexdynamics has qualitative similarities to that of insects in both sagittal and horizontal plane. SprawlHexprescnts a step towards construction of an effective physical model to study arthropod locomotion.

机译：节肢动物以其非凡的机车能力激发了机器人学家的兴趣，在过去的十年中，机器人学研究取得了重大成就。最值得注意的是，仅使用任务级开环控制器[22、9]的受生物启发的六足动物机器人在高度破碎和不稳定的地形上表现出稳定的动态运动。我们目前提供有关SprawlHex（具有可调节身体伸展能力的六足机器人）动力学的实验数据，包括全身配置的时间轨迹和单腿地面反作用力。 SprawlHexis的动态与昆虫的动态进行了比较和对比。 SprawlHexdynamics在矢状和水平面上都具有与昆虫的定性相似性。 SprawlH表示迈出了构建有效的物理模型以研究节肢动物运动的一步。

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《International symposium on experimental robotics;ISER'11; 20080713-16;20080713-16; Athens(GR);Athens(GR)》|2008年|P.303-317|共15页
会议地点 Athens(GR);Athens(GR)
作者
Haldun Komsuoglu; Kiwon Sohn; Robert J. Full; Daniel E. Koditschek;
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Department of Electrical and Systems Engineering, University of Pennsylvania, PA, USA;

Department of Electrical and Systems Engineering, University of Pennsylvania, PA, USA;

Department of Integrative Biology, University of California, Berkeley, CA, USA;

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正文语种 eng
中图分类机器人技术;
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机译：在水平地面上运行的节肢动物的物理模型

A Physical Model for Dynamical Arthropod Running on Level Ground

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