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simmediumquadrupedmetric · varies
Agile asymmetric multi-legged locomotion: contact planning via geometric mechanics and spin model duality
Description
Legged robot research is presently focused on bipedal or quadrupedal robots, despite capabilities to build robots with many more legs to potentially improve locomotion performance. This imbalance is not necessarily due to hardware limitations, but rather to the absence of principled control frameworks that explain when and how additional legs improve locomotion performance. In multi-legged systems, coordinating many simultaneous contacts introduces a severe curse of dimensionality that challenge