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    ICRA
    2003
    IEEE
    104views Robotics» more  ICRA 2003»
    Towards a dynamic actuator model for a hexapod robot
    15 years 8 months ago
    Towards a dynamic actuator model for a hexapod robot
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    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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