TWiki > Rise Web>SprawlTurning (20 Sep 2006, MattSpenko? )

Sprawl Turning (Discussion, Experiments, Theories, Etc)

  • BrianDefense
  • SprawlTurningStart - The initial page containing email discussing ways to approach an Sprawl turning investigation.
  • SprawlTurnAnalysisApproaches - The motion of the robot can be examined in three 2D planes coinciding with yaw pitch and roll body angles. Also the motion can be considered as an extension of (quasi) static postitions for some stable running or as full dynamic system.
  • SprawlTrunExtremeTurning - Several techniques can be used to produce extreme turns, including using legs as pivots, leg reversal and yaw/pitch/roll sequences via gait and/or leg angle and DC changes.
  • SprawlTurnLegUseTesting - Experiments have been performed to aid in the understanding of turning dynamics. From these tests, analysis has resulted in many observations and the development of a few theories on turning and maneuverability.

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