Inertial navigation and visual line following for a dynamical hexapod robot
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, Vol. 2, pp. 1808 - 1813, October, 2003
Abstract
This paper presents preliminary development of autonomous sensor-guided behaviors for a six-legged dynamical robot (RHex). These behaviors represent the first exteroceptive closed-loop locomotion strategies for this system. Simple motion models for RHex are described and used to deploy controllers for inertial straight line locomotion and visual line following. Results are experimentally validated on the robot.
BibTeX
@conference{Skaff-2003-8782,author = {Sarjoun Skaff and George A. Kantor and David Maiwand and Alfred Rizzi},
title = {Inertial navigation and visual line following for a dynamical hexapod robot},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {2003},
month = {October},
volume = {2},
pages = {1808 - 1813},
}
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