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Galen Clark Haynes

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Gait Regulation and Feedback on a Robotic Climbing Hexapod

Proceedings of Robotics: Science and Systems, August 2006

G. C. Haynes*, A. A. Rizzi*
*:The Robotics Institute, Carnegie Mellon University

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Abstract
This paper proposes a novel method of applying feedback control for legged robots, by directly modifying parameters of a robot’s gait pattern. Gaits are a popular means of producing stable locomotion for legged robots, through the use of cyclic feedforward motion patterns, while requiring little to no sensory information. We are interested in incorporating feedback with these systems, and make use of salient parameters, found in gait patterns, to produce behaviors that span the space of possible gaits. These concepts are applied to a robotic hexapod, which, through the use of compliant microspines on its feet, is capable of climbing hard vertical textured surfaces, such as stucco. Experimental results are obtained comparing the use of a purely feedforward gait pattern to a behavior that actively modifies gait parameters while climbing, based upon sensory data.
BibTeX entry
@inproceedings{paper:haynes-rss-2006,
  author       = {G. Clark Haynes and Alfred A. Rizzi},
  title        = {Gait Regulation and Feedback on a Robotic Climbing Hexapod},
  booktitle    = {Proceedings of Robotics: Science and Systems},
  year         = {2006},
  address      = {Philadelphia, USA},
  month        = {August},
}
Related Sites
RiSE V2 - the robot platform used in this paper
RSS 2006 - conference website
Carnegie Mellon’s Robotics Institute - this work was perform during my graduate schooling

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