Introduction

Abstract

Research into legged machines is expanding rapidly. There are several reasons why this is happening at this particular time. The main one is that it has recently become practicable to build on-board computers into small vehicles. Without computer control it is almost impossible to coordinate the movement of many joints as is needed for smooth motion on a rough and obstacle-littered surface. In the last few years the development of computer-controlled machines, especially industrial robots, has resulted in techniques which taken together provide most of the technical base needed to make walking machines possible.