Typically, control strategies for legged robots have been developed to adapt their leg movements to deal with complex terrain. When the legs are extended in search of ground contact to support the robot body, this can result in the center of gravity (CoG) being raised higher from the ground and can lead to unstable locomotion if it deviates from the support polygon. An alternative approach is body adaptation, inspired by millipede/centipede locomotion behavior, which can result in low ground clearance and stable locomotion.

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[1] Jettanan Homchanthanakul, Poramate Manoonpong, "Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots", IEEE Dataport, 2023. [Online]. Available: http://dx.doi.org/10.1109/LRA.2023.3234773. Accessed: Jun. 21, 2024.
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doi = {10.1109/LRA.2023.3234773},
url = {http://dx.doi.org/10.1109/LRA.2023.3234773},
author = {Jettanan Homchanthanakul; Poramate Manoonpong },
publisher = {IEEE Dataport},
title = {Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots},
year = {2023} }
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T1 - Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots
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Jettanan Homchanthanakul, Poramate Manoonpong. (2023). Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots. IEEE Dataport. http://dx.doi.org/10.1109/LRA.2023.3234773
Jettanan Homchanthanakul, Poramate Manoonpong, 2023. Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots. Available at: http://dx.doi.org/10.1109/LRA.2023.3234773.
Jettanan Homchanthanakul, Poramate Manoonpong. (2023). "Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots." Web.
1. Jettanan Homchanthanakul, Poramate Manoonpong. Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots [Internet]. IEEE Dataport; 2023. Available from : http://dx.doi.org/10.1109/LRA.2023.3234773
Jettanan Homchanthanakul, Poramate Manoonpong. "Supplement media for Proactive Body Joint Adaptation for Energy-Efficient Locomotion of Bio-Inspired Multi-Segmented Robots." doi: 10.1109/LRA.2023.3234773