3 Locomotion

Locomotion is achieved by the propagation of waves that traverse the worm, from the tail to the head. For programming simplicity, gait control tables are used[1], described in more detail in section [*]. The locomotion controller (section [*]) generates these tables automatically. The position controller reads them, producing the PWM signals to actuate the servos, and thus propelling the robot.


Juan Gonzalez 2004-10-08