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Published on Jun 7, 2010
This is the next iteration of the CKBot centipede configuration seen here: http://www.youtube.com/watch?v=DQTEAs.... The current gait requires a 7-module configuration, using the same fiberglass legs. Cycle frequency is tunable via joystick, as are two gait parameters, maximum leg roll angle and maximum body yaw angle. The latter two parameters allow the ends of the legs to trace ellipses.