I PRIKLADNAYA MATEMATIKA
(FUNDAMENTAL AND APPLIED MATHEMATICS)
2005, VOLUME 11, NUMBER 7, PAGES 197-206
V. M. Budanov
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The paper is addressed to investigation of algorithms of motion planning for the six-legged walking machine over complex terrain. Application of Rodrigues--Hamilton parameters for description of orientation of the body give, possibility to develop algorithms of motion planning for the body and legs in absolute coordinate frame with automatic adaptation to the surface. Experiments with a laboratory scale walking machine have demonstrated efficiency of proposed algorithms.
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Last modified: December 14, 2005