Departmental Papers (ESE)

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Self Manipulation Model

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Abstract

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.

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version

2013

Comments

Copyright 2013 IEEE. Reprinted from Access, IEEE

Page(s):
310 - 334
ISSN :
2169-3536
INSPEC Accession Number:
13528378
Digital Object Identifier :
10.1109/ACCESS.2013.2263192
Date of Publication :
16 May 2013
Date of Current Version :
30 May 2013
Issue Date :
2013
Sponsored by :
IEEE
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).

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Date Posted: 06 August 2013

This document has been peer reviewed.