Geodesic
Algorithms of motion planning for a~six-legged walking machine
Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 7, pp. 197-206.

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The paper is addressed to investigation of algorithms of motion planning for the six-legged walking machine over complex terrain. Application of Rodrigues–Hamilton parameters for description of orientation of the body give, possibility to develop algorithms of motion planning for the body and legs in absolute coordinate frame with automatic adaptation to the surface. Experiments with a laboratory scale walking machine have demonstrated efficiency of proposed algorithms. 
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V. M. Budanov. Algorithms of motion planning for a~six-legged walking machine. Fundamentalʹnaâ i prikladnaâ matematika, Tome 11 (2005) no. 7, pp. 197-206. http://geodesic.mathdoc.fr/item/FPM_2005_11_7_a13/

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