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Abstract : |
We wish to navigate across complicated threedimensional structures. We describe a robot that can propel itself on a web of surfaces oriented around arbitrary directions in three-space. This robot is an inchworm-like robot with a simple, modular, and flexible design. We present control algorithms for the tasklevel skills that allow the robot to walk vertically, horizontally, and inverted, and the algorithms that allow the robot to make transitions between surfaces. Finally, we discuss our experiments., |
