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From Morphologies of Six-, Four- and Two-Legged Animals to the HexaQuaBip Robot’s Reconfigurable Kinematics

  • Alexandre Veinguertener
  • Thierry Hoinville
  • Olivier Bruneau
  • Jean-Guy Fontaine
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5928)

Abstract

How can we go beyond the locomotor versatility of current legged robots? We propose an approach, called HexaQuaBip, based on merging the most prevalent legged animal morphologies in a bioinspired polymorphic yet non-modular robot, intended to be able to reconfigure in either hexapodal, quadrupedal or bipedal modes. This paper focuses on reviewing main types of 6-, 4- and 2-legged animal kinematics and results in integrating all of them into a reconfigurable kinematic structure.

Keywords

Stride Length Bipedal Walk Legged Robot Modular Robot Locomotion Mode 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • Alexandre Veinguertener
    • 1
    • 2
  • Thierry Hoinville
    • 1
    • 2
  • Olivier Bruneau
    • 1
    • 2
  • Jean-Guy Fontaine
    • 1
    • 2
  1. 1.Italian Institute of TechnologyGenovaItaly
  2. 2.Université de VersaillesVélizyFrance

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