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. Author manuscript; available in PMC: 2010 Feb 22.
Published in final edited form as: IEEE Trans Robot. 2009;25(5):1109–1124. doi: 10.1109/tro.2009.2027375

Fig. 6.

Fig. 6

(a) Control architecture for the HeartLander system. (b) (Solid line) Raw and (broken line) filtered 3-D position data collected from the 6-DOF magnetic tracking sensor mounted on the crawling robot during locomotion on a beating porcine heart. The heartbeat and respiration motion are clear during the first 13 s of resting, at which time, locomotion begins.