Locomotion study and improvement of multi-legged robots involving CG adjustment

• Main Author: Chen, Wenjie.
• Other Authors: Low, Kin Huat
• Format: Theses and Dissertations
• Published: 2008
• Subjects: DRNTU::Engineering::Mechanical engineering::Robots
• Online Access: http://hdl.handle.net/10356/5433
• Institution: Nanyang Technological University

There is a growing demand in recent years for multi-legged robots to travel on natural terrain with superior locomotion behaviors such as good stability and terrain-adaptability. However, these demanding specifications are not always compatible when legged robots walk on terrain containing a lot of...