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er
ef
o
r
e,
E
,
I
s
,
R
i,a
n
d
l
ar
e
th
e
f
ac
to
r
s
t
h
at
i
s
n
ee
d
ed
to
a
p
p
r
o
x
im
a
te
K
t
in
t
h
e
P
R
B
m
o
d
el.
T
h
e
leg
s
ti
f
f
n
es
s
is
c
h
ar
ac
ter
is
ed
b
y
th
e
s
ta
n
d
ar
d
ca
n
tili
v
er
b
ea
m
b
en
d
in
g
eq
u
at
io
n
,
K
L
=3
E
I
L
/ L
3
(
3
)
W
h
er
e
I
L
is
t
h
e
m
o
m
en
t
o
f
in
er
tia
in
th
e
later
al
d
ir
ec
tio
n
,
L
is
t
h
e
li
n
ea
r
d
is
tan
ce
f
r
o
m
th
e
p
o
in
t
o
f
d
ef
lectio
n
to
th
e
lo
ad
in
g
p
o
in
t.
I
t
i
s
i
m
p
o
r
ta
n
t
to
n
o
te
t
h
a
t
K
t
an
d
K
L
ca
n
b
e
in
d
ep
en
d
en
tl
y
s
p
ec
i
f
iced
b
y
ch
an
g
i
n
g
t
h
e
m
o
m
e
n
t
o
f
i
n
er
tia.
T
h
is
f
ea
t
u
r
e
in
cr
ea
s
e
s
d
esig
n
f
lex
ib
il
it
y
a
n
d
allo
w
s
o
n
e
to
ad
j
u
s
t
s
p
atial
co
m
p
lia
n
ce
i
n
th
e
la
ter
al
d
ir
ec
tio
n
in
d
ep
en
d
e
n
t o
f
t
h
e
s
a
g
itta
l p
lan
e.
A
l
in
ea
r
g
u
id
e
is
u
s
ed
f
o
r
ex
p
er
i
m
en
tin
g
t
h
e
s
ti
f
f
n
es
s
o
f
th
e
co
m
p
lain
t
leg
.
T
h
e
r
es
u
lt
s
ar
e
d
ep
icted
in
th
e
Fig
.
7
,
w
h
er
e,
to
r
tio
n
a
l
s
tiff
n
es
s
an
d
t
h
e
later
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s
ti
f
f
n
e
s
s
ar
e
p
lo
ted
w
it
h
r
esp
ec
t to
th
e
s
lid
er
p
o
s
itio
n
.
Fig
u
r
e
7
.
T
o
r
s
io
n
al
Sti
f
f
n
es
s
a
n
d
L
ater
al
St
if
f
n
es
s
o
f
C
-
L
e
g
o
f
th
e
b
o
t is p
lo
tted
in
th
is
g
r
ap
h
w
ith
r
esp
ec
t to
th
e
s
lid
er
p
o
s
itio
n
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
4
,
Dec
em
b
er
201
5
:
2
62
–
2
68
266
4.
ACTUA
T
O
RS,
E
L
E
CT
RO
NICS
AN
D
P
RO
G
R
AM
M
I
NG
P
L
AT
F
O
RM
T
h
e
C
-
le
g
p
ar
t
o
f
t
h
e
b
o
t
is
c
o
n
n
ec
ted
to
t
h
e
D
y
n
a
m
i
x
el
-
MX
-
6
4
T
s
er
v
o
m
o
to
r
s
an
d
t
h
e
w
h
ee
ls
ar
e
co
n
n
ec
ted
to
th
e
n
o
r
m
al
DC
g
ea
r
ed
m
o
to
r
s
.
T
h
er
e
ar
e
m
a
n
y
i
m
p
o
r
ta
n
t
r
ea
s
o
n
s
w
h
y
th
ese
D
y
n
a
m
i
x
el
s
ar
e
q
u
ite
s
u
itab
le
f
o
r
th
i
s
b
o
t,
wh
ich
ar
e
lis
ted
a
s
f
o
llo
w
s
.
Fir
s
t
o
f
al
l
t
h
ese
m
o
to
r
s
u
s
e
T
T
L
co
n
n
ec
tio
n
lo
g
ic
w
h
ic
h
m
a
k
es
t
h
e
co
n
n
ec
tio
n
s
b
et
w
ee
n
d
if
f
er
en
t
m
o
to
r
s
q
u
it
e
s
i
m
p
le.
T
h
e
y
h
av
e
h
i
g
h
p
r
ec
is
io
n
,
ac
cu
r
ac
y
an
d
also
h
a
s
g
o
o
d
to
r
q
u
e
ch
ar
ac
te
r
is
tics
.
Mo
s
t
i
m
p
o
r
ta
n
t
o
f
a
ll,
th
e
m
ac
h
in
e
lear
n
i
n
g
al
g
o
r
ith
m
i
m
p
le
m
e
n
tatio
n
ca
n
b
e
d
o
n
e
q
u
ite
ea
s
il
y
u
s
in
g
th
is
s
er
v
o
m
o
to
r
as it
h
as r
elia
b
le
an
d
ac
cu
r
ate
f
ee
d
b
ac
k
s
.
T
h
e
m
ain
p
r
o
ce
s
s
o
r
o
n
b
o
ar
d
is
t
h
e
R
asp
b
er
r
y
P
i
v
er
s
io
n
2
,
w
h
ich
is
i
n
ter
co
n
n
ec
ted
w
i
th
v
ar
io
u
s
o
th
er
s
e
n
s
o
r
m
o
d
u
le
s
a
n
d
t
h
e
m
o
to
r
d
r
iv
er
cir
c
u
its
.
T
h
e
o
v
e
r
all
la
y
o
u
ts
o
f
th
e
e
n
tire
elec
tr
ical
an
d
elec
tr
o
n
ic
s
s
y
s
te
m
s
ar
e
as
d
ep
icted
in
th
e
Fi
g
.
8
.
T
h
e
en
tire
p
r
o
g
r
a
m
m
in
g
is
d
o
n
e
u
s
i
n
g
t
h
e
L
i
n
u
x
b
ased
R
o
b
o
tic
Op
er
atin
g
S
y
s
te
m
(
R
OS)
an
d
s
i
m
u
lated
u
s
i
n
g
Gaz
eb
o
.
Fig
u
r
e
8
.
T
h
e
ab
o
v
e
la
y
o
u
t d
e
p
icts
th
e
co
n
n
ec
tio
n
p
r
o
ce
d
u
r
e
in
b
et
w
ee
n
v
ar
io
u
s
elec
tr
ical
an
d
elec
tr
o
n
ic
co
m
p
o
n
e
n
ts
o
f
t
h
e
b
o
t.
T
h
e
p
r
im
ar
y
f
u
n
ctio
n
o
f
t
h
e
s
en
s
o
r
u
s
ed
i
s
to
id
e
n
ti
f
y
th
e
o
b
s
tacle
ah
ea
d
o
f
it
an
d
to
d
eter
m
in
e
it
s
h
eig
h
t.
Ho
w
ev
er
th
e
d
etails
r
eg
ar
d
in
g
o
p
er
atio
n
al
p
r
o
ce
d
u
r
es
o
f
t
h
e
s
e
n
s
o
r
s
an
d
th
e
d
ata
ac
q
u
is
itio
n
ar
e
n
o
t
co
v
er
ed
in
t
h
i
s
p
ap
er
as
t
h
e
y
ar
e
p
r
esen
ted
as
a
s
ep
ar
ate
r
esear
ch
w
o
r
k
a
n
d
h
en
ce
f
o
r
t
h
i
n
t
h
is
p
ap
er
th
e
m
ac
h
in
e
lear
n
i
n
g
al
g
o
r
ith
m
a
n
d
p
r
o
g
r
am
m
in
g
i
m
p
le
m
en
t
a
tio
n
w
ill b
e
d
escr
ib
ed
.
5.
M
ACH
I
NE
L
E
AR
NIN
G
A
L
G
O
RI
T
H
M
I
M
P
L
E
M
E
NT
AT
I
O
N
F
O
R
O
B
ST
A
CL
E
CRO
SS
I
NG
E
v
en
t
h
o
u
g
h
all
t
h
e
ac
t
u
ato
r
s
o
f
th
e
b
o
t
ca
n
b
e
co
n
tr
o
lled
m
an
u
al
l
y
,
t
h
e
m
ai
n
s
co
p
e
o
f
t
h
i
s
p
r
o
j
ec
t
is
to
in
tr
o
d
u
ce
th
e
co
n
ce
p
t
o
f
s
e
m
i
-
au
to
m
atio
n
t
h
r
o
u
g
h
m
ac
h
i
n
e
le
ar
n
i
n
g
p
r
o
ce
s
s
w
h
ich
i
s
d
etailed
as
f
o
llo
w
s
.
W
h
en
e
v
er
t
h
e
b
o
t
b
u
m
p
s
o
n
to
an
y
n
o
n
-
cr
o
s
s
ab
le
o
b
s
tacle
d
u
r
in
g
f
o
r
w
ar
d
m
o
tio
n
,
ce
r
tai
n
cr
itical
s
eq
u
e
n
ce
o
f
s
tep
s
h
as
to
b
e
tak
en
b
y
th
e
b
o
t
to
cr
o
s
s
th
e
o
b
s
tacle
,
w
h
ich
is
b
ased
o
n
th
e
h
eig
h
t
an
d
w
i
d
th
o
f
th
e
o
b
s
tacle
.
So
,
th
e
m
ai
n
ai
m
i
s
to
i
m
p
l
e
m
en
t
an
al
g
o
r
ith
m
s
u
c
h
t
h
a
t
th
e
b
o
t
w
o
u
ld
r
ec
o
r
d
th
ese
v
ar
io
u
s
o
p
er
ato
r
co
n
tr
o
lled
ac
tu
ato
r
m
o
v
e
m
e
n
t
s
d
o
n
e
d
u
r
i
n
g
th
e
u
n
k
n
o
w
n
o
b
s
tacle
cr
o
s
s
i
n
g
p
r
o
ce
d
u
r
e
b
ased
o
n
ce
r
tain
h
ei
g
h
t
an
d
w
id
t
h
o
f
th
e
o
b
j
ec
t.
So
,
w
h
en
e
v
er
th
e
b
o
t
d
etec
ts
a
s
i
m
ilar
o
b
s
tacle
o
f
s
a
m
e
h
e
i
g
h
t
a
n
d
len
g
th
,
t
h
e
o
p
er
ato
r
n
ee
d
n
o
t
r
ep
ea
t
th
e
s
a
m
e
s
et
o
f
s
eq
u
e
n
ce
a
s
t
h
e
b
o
t
alr
ea
d
y
k
n
o
w
s
w
h
ich
s
u
b
alg
o
r
ith
m
h
as
to
b
e
ca
r
r
ied
o
u
t f
o
r
cr
o
s
s
in
g
it
f
r
o
m
th
e
s
to
r
ed
v
alu
e
s
an
d
r
ep
ea
ts
it.
T
h
e
p
r
o
g
r
a
m
i
m
p
le
m
e
n
tatio
n
s
eq
u
en
ce
f
o
r
th
e
ab
o
v
e
s
aid
p
r
o
b
lem
s
tate
m
en
t is
s
h
o
w
n
i
n
F
ig
u
r
e
2.
T
h
e
ex
p
lan
atio
n
f
o
r
th
e
f
lo
wch
ar
t
s
h
o
w
n
i
n
Fi
g
.
5
is
a
s
f
o
llo
w
s
.
I
n
itiall
y
,
w
h
en
t
h
e
b
o
t
is
p
o
w
er
ed
o
n
,
b
y
d
ef
au
lt
it
i
s
i
n
s
e
m
i
-
a
u
to
n
o
m
o
u
s
m
o
d
e.
I
f
ir
s
t
s
ca
n
s
f
o
r
t
h
e
p
r
ese
n
ce
o
f
an
y
u
s
er
g
i
v
en
in
p
u
t
f
o
r
m
o
v
e
m
en
t.
I
f
an
y
in
p
u
t
is
p
r
ese
n
t
it
e
x
ec
u
t
ed
th
e
co
r
r
esp
o
n
d
in
g
a
lg
o
r
it
h
m
f
o
r
m
o
v
e
m
e
n
t.
I
f
n
o
t,
t
h
e
p
r
ev
io
u
s
m
o
v
e
m
e
n
t
alg
o
r
ith
m
i
s
f
o
llo
w
ed
.
Af
ter
ex
ec
u
t
io
n
o
f
th
e
f
ir
s
t
m
o
v
e
m
en
t
al
g
o
r
ith
m
it
s
ca
n
s
f
o
r
th
e
p
r
esen
ce
o
f
an
y
ob
s
tacle
p
r
esen
t
a
h
ea
d
o
f
it
wh
ich
is
b
e
y
o
n
d
i
ts
cr
o
s
s
in
g
ca
p
ab
ilit
y
w
it
h
r
esp
ec
t
to
th
e
o
b
s
tacle
s
h
ei
g
h
t
an
d
w
id
t
h
.
T
h
is
p
r
o
ce
s
s
is
d
o
n
e
b
y
u
s
in
g
a
s
ta
n
d
ar
d
im
a
g
e
p
r
o
ce
s
s
i
n
g
p
r
o
ce
d
u
r
e.
I
f
an
y
s
u
c
h
o
b
s
tacle
is
p
r
esen
t,
th
e
b
o
t
h
alts
its
m
o
v
e
m
en
t
a
n
d
f
in
d
s
a
s
u
itab
le
cr
o
s
s
i
n
g
al
g
o
r
ith
m
f
o
r
th
e
co
r
r
esp
o
n
d
in
g
h
eig
h
t
an
d
w
id
t
h
o
f
th
e
o
b
s
tacle
in
it
s
d
atab
ase.
I
f
n
o
s
u
ch
m
atc
h
is
f
o
u
n
d
,
th
e
b
o
t
au
to
m
at
icall
y
s
w
itc
h
es
t
o
co
m
p
lete
m
a
n
u
al
m
o
d
e
a
n
d
w
ai
ts
f
o
r
t
h
e
u
s
er
i
n
p
u
t
f
o
r
its
m
o
tio
n
.
T
h
e
u
s
er
in
p
u
t
v
alu
e
s
to
th
e
m
o
to
r
s
ar
e
co
n
tin
u
o
u
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.
Evaluation Warning : The document was created with Spire.PDF for Python.
IJ
RA
I
SS
N:
2089
-
4856
Desig
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RE
F
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NC
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S
[1
]
F
.
M
ic
h
a
u
d
a
n
d
S
.
Ca
ro
n
,
“
M
u
lt
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m
o
d
a
l
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o
c
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o
ti
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n
ro
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p
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rm
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s Ro
b
o
ts,
p
p
.
1
3
7
–
1
5
6
,
2
0
0
5
.
[2
]
J.
Yu
a
n
a
n
d
S
.
Hiro
se
,
“
Re
se
a
rc
h
o
n
leg
-
w
h
e
e
l
h
y
b
rid
sta
irclim
b
in
g
ro
b
o
t,
z
e
ro
c
a
rrier,”
in
IE
EE
In
tern
a
t
io
n
a
l
Co
n
f
e
re
n
c
e
o
n
Ro
b
o
t
ics
a
n
d
Bi
o
m
i
m
e
ti
c
s,
v
o
l.
1
,
2
0
0
4
,
p
p
.
6
5
4
–
6
5
9
.
[3
]
V
.
Kr
o
v
i
a
n
d
V.
Ku
m
a
r,
“
M
o
d
e
li
n
g
a
n
d
c
o
n
tr
o
l
o
f
a
h
y
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rid
lo
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o
m
o
ti
o
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sy
ste
m
,
”
A
S
M
E
Jo
u
rn
a
l
o
f
M
e
c
h
a
n
ica
l
De
sig
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,
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1
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1
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o
.
3
,
p
p
.
4
4
8
–
4
5
5
,
1
9
9
9
.
[4
]
S
.
D.
He
rb
e
rt
,
e
t
a
l.
,
"
L
o
p
e
r:
A
Qu
a
d
ru
p
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d
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Hy
b
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tair
Cli
m
b
in
g
Ro
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o
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"
i
n
IEE
E
I
n
tern
a
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o
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Co
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n
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o
n
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s an
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(ICRA
)
,
2
0
0
8
,
p
p
.
7
9
9
-
8
0
4
.
[5
]
J.
B.
Je
a
n
s
a
n
d
D.
Ho
n
g
,
"
I
M
P
A
S
S
:
In
telli
g
e
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t
M
o
b
i
li
ty
P
latf
o
rm
w
it
h
Ac
ti
v
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p
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k
e
S
y
ste
m
,
"
in
IEE
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In
tern
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Co
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o
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m
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(ICRA
)
,
2
0
0
9
,
p
p
.
1
6
0
5
–
1
6
0
6
.
[6
]
J.
Y.
W
o
n
g
,
T
h
e
o
ry
o
f
G
ro
u
n
d
Ve
h
icle
s
:
Jo
h
n
W
il
e
y
a
n
d
S
o
n
s I
n
c
.
,
1
9
9
3
.
Evaluation Warning : The document was created with Spire.PDF for Python.
I
SS
N
:
2
0
8
9
-
4856
IJ
RA
Vo
l.
4
,
No
.
4
,
Dec
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201
5
:
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62
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68
268
[7
]
U.
S
a
ra
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li
,
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t
a
l.
,
"
RHe
x
:
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s
i
m
p
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ig
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.
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1
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0
1
.
[8
]
S.
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Y.
S
h
e
n
,
e
t
a
l.
,
"
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sig
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y
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rid
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o
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il
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m
,
"
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RS
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tern
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ti
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re
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telli
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9
,
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.
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8
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-
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.
[9
]
R.
D.
Qu
i
n
n
,
e
t
a
l
.
,
"
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ra
ll
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ies
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ti
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g
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io
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l
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ri
n
c
ip
les
in
t
o
m
o
b
il
e
ro
b
o
ts,
"
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tern
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ti
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l
Jo
u
rn
a
l
o
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o
ti
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s
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se
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rc
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o
l.
2
2
,
p
p
.
1
6
9
1
8
6
,
2
0
0
3
.
[1
0
]
M
.
G
u
a
m
i
e
ri,
P
.
De
b
e
n
e
sr,
T
.
In
o
h
,
E.
F
u
k
u
sh
im
a
,
a
n
d
S
.
Hiro
se
,
“
De
v
e
lo
p
m
e
n
t
o
f
h
e
li
o
s
v
ii
:
a
n
a
rm
-
e
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ip
p
e
d
trac
k
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icle
f
o
r
se
a
rc
h
a
n
d
re
sc
u
e
o
p
e
ra
ti
o
n
s,”
i
n
IEE
E/
R
S
J
In
tern
a
ti
o
n
a
l
C
o
n
f
e
re
n
c
e
o
n
In
telli
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st
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m
s,
2
0
0
4
,
p
p
.
3
9
–
4
5
.
[1
1
]
P
.
L
il
jeb
a
c
k
,
K.
Y.
P
e
t
ters
e
n
,
O
.
S
tav
d
a
h
l,
a
n
d
J.
T
.
G
ra
v
d
a
h
l,
“
S
n
a
k
e
ro
b
o
t
l
o
c
o
m
o
ti
o
n
in
e
n
v
iro
n
m
e
n
ts
w
it
h
o
b
sta
c
les
,
”
IEE
E/
A
S
M
E
T
ra
n
s.
M
e
c
h
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tro
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ics
,
v
o
l
.
1
7
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o
.
6
,
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p
.
1
1
5
8
–
1
1
6
9
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c
.
2
0
1
2
.
[1
2
]
N.
O.
P
e
re
z
-
A
ra
n
c
ib
ia,
J.
P
.
Wh
it
n
e
y
,
a
n
d
R.
J.
W
o
o
d
,
“
L
i
f
t
fo
rc
e
c
o
n
tro
l
o
f
f
lap
p
in
g
w
in
g
m
icro
ro
b
o
ts
u
sin
g
a
d
a
p
ti
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e
f
e
e
d
f
o
rwa
rd
sc
h
e
m
e
s,”
I
EE
E/
A
S
M
E
T
ra
n
s.
M
e
c
h
a
tro
n
.
,
v
o
l.
1
8
,
n
o
.
1
,
p
p
.
1
5
5
–
1
6
8
,
F
e
b
.
2
0
1
3
.
[1
3
]
S
.
L
o
h
m
e
ier,
T
.
Bu
sc
h
m
a
n
n
,
a
n
d
H.Ulb
rich
,
“
S
y
ste
m
d
e
sig
n
a
n
d
c
o
n
tro
l
o
f
a
n
th
ro
p
o
m
o
rp
h
ic
w
a
l
k
in
g
ro
b
o
t
L
OLA
,
”
IEE
E/
A
S
M
E
T
ra
n
s.
M
e
c
h
a
tro
n
.
,
v
o
l.
1
4
,
n
o
.
6
,
p
p
.
6
5
8
–
6
6
6
,
De
c
.
2
0
0
9
.
[1
4
]
Y.
D.
Ho
n
g
a
n
d
J.
H.
Kim
,
“
3
-
D
c
o
m
m
a
n
d
sta
te
-
b
a
se
d
m
o
d
if
iab
le
b
ip
e
d
a
l
w
a
lk
in
g
o
n
u
n
e
v
e
n
terra
in
,
”
IEE
E/
A
S
M
E
T
ra
n
s.
M
e
c
h
a
tro
n
.
,
v
o
l.
1
8
,
n
o
.
2
,
p
p
.
6
5
7
–
6
6
3
,
A
p
r.
2
0
1
3
.
[1
5
]
D.
J.
Bra
u
n
,
J.
E.
M
it
c
h
e
ll
,
a
n
d
M
.
G
o
ld
f
a
rb
,
“
A
c
tu
a
ted
d
y
n
a
m
ic
w
a
l
k
in
g
in
a
s
e
v
e
n
-
li
n
k
b
ip
e
d
ro
b
o
t,
”
IEE
E/
A
S
M
E
T
ra
n
s.
M
e
c
h
a
tro
n
.
,
v
o
l.
1
7
,
n
o
.
1
,
p
p
.
1
4
7
–
1
5
6
,
F
e
b
.
2
0
1
2
.
[1
6
]
T
.
S
e
o
a
n
d
M
.
S
it
ti
,
“
T
a
n
k
-
li
k
e
m
o
d
u
le
-
b
a
se
d
c
li
m
b
in
g
ro
b
o
t
u
sin
g
p
a
ss
iv
e
c
o
m
p
li
a
n
t
jo
i
n
t
s,”
IEE
E/
A
S
M
E
T
ra
n
s.M
e
c
h
a
tro
n
.
,
v
o
l
.
1
8
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9
7
.
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