Romansy 13 pp 323-329 | Cite as

Development of Walking Machines: Novel Leg Drive Design and Control

  • Teresa Zielińska
  • John Heng
Conference paper
Part of the International Centre for Mechanical Sciences book series (CISM, volume 422)


In this paper, a novel design of a leg drive mechanism, hardware architecture and leg control method is described for a walking machine being developed for the study of various walking gait strategies. The leg mechanism employs an inverse differential gear drive system, to provide a large leg lift and swing sweep angle on a common pivotal point while being driven collectively by a pair of motors. The development platform consists of a pair of legs mounted adjacent to each other on a linear slide. A 3-axis piezo transducer is mounted on the foot to measure the various vector forces in the leg during the walking phase. The description of this unique leg drive system, the hardware architecture used, the position and force control strategy adopted, force sensing results gathered from the 3 axis force sensor, power conservation methods are discussed and presented.


Force Control Hardware Architecture Support Phase Driver Process Linear Slide 


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Copyright information

© Springer-Verlag Wien 2000

Authors and Affiliations

  • Teresa Zielińska
    • 1
    • 2
  • John Heng
    • 1
  1. 1.School of Mechanical and Production Engineering, Robotics Research CentreNanyang Technological UniversitySingaporeSingapore
  2. 2.Institute of Aeronautics and Applied MechanicsWarsaw University of TechnologyWarsawPoland

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