IEEE - Institute of Electrical and Electronics Engineers, Inc. - Robustness of centipede-inspired millirobot locomotion to leg failures

2013 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2013)

Author(s): Katie L. Hoffman ; Robert J. Wood
Sponsor(s): IEEE Ind. Electron. Soc.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 November 2013
Conference Location: Tokyo, Japan
Conference Date: 3 November 2013
Page(s): 1,472 - 1,479
ISSN (Paper): 2153-0858
DOI: 10.1109/IROS.2013.6696543
Regular:

This paper explores the use of mechanical redundancy to enhance robustness to leg failures in miniature ambulatory robots. Graceful degradation, rather than immediate catastrophic failure, is... View More

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