Legged Self-Manipulation
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Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
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GRASP
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Engineering
Kodlab
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This paper introduces self-manipulation as a new formal design methodology for legged robots with varying ground interactions... This work was supported by the ARL/GDRS RCTA project under Cooperative Agreement Number W911NF-10–2−0016. For further information, visit Kod*lab.
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2013-01-01
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Copyright 2013 IEEE. Reprinted from Access, IEEE Page(s): 310 - 334 ISSN : 2169-3536 INSPEC Accession Number: 13528378 Digital Object Identifier: http://dx.doi.org/10.1109/ACCESS.2013.2263192 Date of Publication: 16 May 2013 Date of Current Version: 30 May 2013 Issue Date: 2013 Sponsored by: IEEE (http://www.ieee.org/index.html) Errata Page 310, the citation to prior publication of section IV-A should read [13]. Page 316, Eqn. (17), the subscript on R should read wp. Page 317, Eqn. (29) should be the line just after Eqn. (28). Page 328, Eqn. (68), the length terms in the denominator of the first line should be squared, as in Eqn. (67), and the font for ε in Result C.5 should match this line. Page 330, Appendix D, first column, the sixth line of equations in this section should not include the symbol × (this should be interpreted as the usual matrix multiplication with the previous line). Page 331, Appendix E, first column, the fourth line of equations on this page should not include the symbol × (this should be interpreted as the usual matrix multiplication with the previous line). Page 332, second column, the reference to the mass matrix and Corilis matrix in Fig. 15 should have no equation numbers (81 and 82 are unrelated).