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- W2893521453 abstract "In this paper, we propose two gait strategies for a limb mechanism robot, called ASTERISK, to move on narrow spaces. Specifically, we describe two types of locomotion, namely, vertical-body climbing gait and horizontal-body climbing gait, that the robot uses to climb on two parallel walls. The proposed strategies are verified through both simulations and experiments on an actual robot. Moreover, to reduce power consumption during locomotion, we employ a power efficiency model based on the pose of the robot and its limbs. The simulation and experimental results confirm the effectiveness of proposed gait strategies." @default.
- W2893521453 created "2018-10-05" @default.
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- W2893521453 date "2018-09-24" @default.
- W2893521453 modified "2023-09-24" @default.
- W2893521453 title "Energy-efficient narrow wall climbing of six-legged robot" @default.
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- W2893521453 doi "https://doi.org/10.1186/s40648-018-0121-y" @default.
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