Introduction to algorithms
Trajectory generation for mechanical systems with application to robotic locomotion
WAFR '98 Proceedings of the third workshop on the algorithmic foundations of robotics on Robotics : the algorithmic perspective: the algorithmic perspective
Introduction To Automata Theory, Languages, And Computation
Introduction To Automata Theory, Languages, And Computation
The development of a robotic endoscope
IROS '95 Proceedings of the International Conference on Intelligent Robots and Systems-Volume 2 - Volume 2
Gait generation considering dynamics for artificial segmented worms
Robotics and Autonomous Systems
Characterization of forward rectilinear-gait performance for a snake-inspired robot
Proceedings of the Workshop on Performance Metrics for Intelligent Systems
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The gait of a multi-segment inchworm robot is a series of actuator actions that will change the shape of the robot to generate a net motion. In this paper, we model the multi-segment inchworm robot as a finite state automaton. Gait generation is posed as a search problem on the graph described by the automaton with prescribed state transitions. The state transitions are defined based on the kinematics of robot locomotion. The auxiliary actuator concept is introduced. Single-stride and multi-stride gait generations are discussed. Single-stride gaits exhibit fault-tolerant and real-time computation features that are necessary in actual applications. Both computer simulation and experimental hardware platform are developed for various aspects of gait generation and planning.