Simulation of two quadruped morphologies shows that larger feasible contact wrench spaces and reduced impulsive whole-body dynamics improve stability and lower actuation demand for grasp-based locomotion in microgravity.
Proprioceptive inchworm robots for space applica- tions,
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Motion Design for Grasp-Based Dynamic Locomotion in Microgravity
Simulation of two quadruped morphologies shows that larger feasible contact wrench spaces and reduced impulsive whole-body dynamics improve stability and lower actuation demand for grasp-based locomotion in microgravity.