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Extending SMER-based CPGs to accommodate total support phases and kinematics-safe transitions between gait rhythms of hexapod robots

C. S. Carvalho, Luciano S. C. Raptopoulos, W. S. Andrade, Daniel S. F. Alves, Max Suell Dutra, Felipe M. G. França. Extending SMER-based CPGs to accommodate total support phases and kinematics-safe transitions between gait rhythms of hexapod robots. Neurocomputing, 170:113-127, 2015. [doi]

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