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    ICRA
    2003
    IEEE
    104views Robotics» more  ICRA 2003»
    Towards a dynamic actuator model for a hexapod robot
    13 years 10 months ago
    Towards a dynamic actuator model for a hexapod robot
    Download  www.cim.mcgill.ca
    We describe a model predicting the output torque of the battery-amplifier-actuator-gear combination used on the hexapod robot RHex, based on requested PWM (PulseWidth-Modulation) ...
    Dave McMordie, Chris Prahacs, Martin Buehler
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    ICRA
    2005
    IEEE
    141views Robotics» more  ICRA 2005»
    Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits
    13 years 10 months ago
    Sensor Data Fusion for Body State Estimation in a Hexapod Robot with Dynamical Gaits
    Download  kodlab.seas.upenn.edu
    — We report on progress toward a continuous time full 6 DOF translational body state estimator for a hexapod robot executing a jogging gait (with 4 consecutive phases: tripod sta...
    Pei-Chun Lin, Haldun Komsuoglu, Daniel E. Koditsch...
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