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CPG-Based Gait Generation of the Curved-Leg Hexapod Robot with Smooth Gait Transition

This paper presents a novel CPG-based gait generation of the curved-leg hexapod robot that can enable smooth gait transitions between multi-mode gaits. First, the locomotion of the curved leg and instability during the gait transitions are analyzed. Then, a modified Hopf oscillator is applied in the...

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Detalles Bibliográficos
Autores principales:	Bai, Long, Hu, Hao, Chen, Xiaohong, Sun, Yuanxi, Ma, Chaoyang, Zhong, Yuanhong
Formato:	Online Artículo Texto
Lenguaje:	English
Publicado:	MDPI 2019
Materias:	Article
Acceso en línea:	https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6749326/ https://www.ncbi.nlm.nih.gov/pubmed/31455002 http://dx.doi.org/10.3390/s19173705

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