Jiachen Yan

Coordinated Stability Control Integrating Gait Rhythm Planning and Attitude Feedback for an Underwater Hexapod Robot with Asymmetric Five-Legged Support

Near-seabed contact operations with underwater hexapod robots can require one leg to execute a contact task, which reduces the stability of the remaining asymmetric five-legged support. To address this problem, this study proposes a five-legged asymmetric coordinated stability co...