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Follow-the-Contact-Point gait control of centipede-like multi-legged robot to navigate and walk on uneven terrain.

Shinkichi InagakiTomoya NiwaTatsuya Suzuki
Published in: IROS (2010)
Keyphrases
  • legged robots
  • inverted pendulum
  • quadruped robot
  • mobile robot
  • contact force
  • stability margin
  • gait patterns
  • simulation study
  • dynamic environments
  • nonlinear systems
  • rough terrain