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Goldfarb CREATE Lab

Hexapod

Monopropellant Powered Hexapod Robot

The goal of this effort is the development of a hexapod robot that incorporates high power-density actuation. Low-level control of the legs is governed by the coordination influences proposed by Cruse et al. The overall goal of the effort is the development and implementation of a legged robot with actuation power density and low-level control approaching that of a biological system.

 

Publications

  • A Biologically Inspired Approach to the Coordination of Hexapedal Gait, K. W. Wait and M. Goldfarb, IEEE International Conference on Robotics and Automation, pp. 275 – 280, April 2007. IEEE Xplore