Abstract
This paper presents an implementation of a long serial chain robot that can climb stairs in a “snake-biting-its-tail” loop form, climb up ramps using a travelling wave gait and by adding small spikes or cleats it can also climb near vertical porous materials. The gaits are controlled with a gait control table which is a simple but powerful way to coordinate the motion of many degrees of freedom. The gaits are implemented on Poly Bot G1v4, a self-sufficient modular reconfigurable robot with onboard power, computation, sensors and actuators.
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