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See discussions, stats, and author profiles for this publication at: Matrix Analysis for Scientists and Engineers [Book Review] Article in IEEE Control Systems Magazine · May 2006 DOI: 10.1109/MCS.2006.1615276 · Source: IEEE Xplore CITATIONS 0 READS 1,244 1 author: Some of the authors of this publication are also working on these related projects: MSO4SC -- View project model reduction of transport phenomena View project Volker Mehrmann Technische Universität Berlin 458 PUBLICATIONS 8,621 CITATIONS SEE PROFILE All content following this page was uploaded by Volker Mehrmann on 13 May 2013. The user has requested enhancement of the downloaded file.
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wires, which lift the legs off the ground. Mechanical and electrical designs are presented in Chapter 6. This Stiquito variation uses a BASIC Stamp 2 microcontroller, which interprets BASIC language programs for instructions. The PCB design and construction details are also shown in Chapter 6. At the end of the chapter, a sample of the Paral- lax BASIC program, run on the microcontroller to control the 2-DOF legs, is listed. This program can also be viewed at the IEEE Computer Society Press Web site [9]. Chapter 6 shows how the basic skills and knowledge developed by building the first Stiquito can be used to build more advanced walking robots. Optimizing the Stiquito robot for speed by altering the robot’s design is the topic of Chapter 7. The parameters that affect the speed of the robot include the number of DOFs per leg, the friction of the legs with the ground, the number of legs, whether the robot moves forward during the con- traction or relaxation of the nitinol wire, the lengths of the legs, and the speed of the leg contractions. Chapter 7 lists the results of experiments with three different variations of the robot that were altered based on the above parameters, including a six-legged robot with 2-DOF standard legs, a six-legged robot with 1-DOF long legs, and an eight-legged robot with 1-DOF legs. Chapter 7 concludes that these experimental results cannot provide a definitive answer about which parameter is the most important, due to varia- tions in weight and power supply. Chapter 8 summarizes innovative variations of Stiquito by different people. Among these designs are a robot controlled by an analog controller rather than a digital microcontroller, a BEAMStiquito controlled by the neural-network method, a Stiquito with an Amtel AVR-based controller, two four-legged Stiquitos, and a Caterpillar Stiquito.
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  • Fall '17
  • BenReichardt
  • Linear Algebra, IEEE Control Systems Magazine

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