Romansy 14 pp 499-506 | Cite as

Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities

  • Teresa Zielinska
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


Mechanics and control system of four-legged walking machine LAVA has been developed in the Robotics Research Laboratory in NTU — Singapore. In this machine the novel leg design was applied — Zielinska and Heng (2000). Elaborated by author control system allowed analyse of LAVA motion properties and therefore it was possible to confirm assumptions done in the design phase. In this paper discussion of selected design problems in relation to the features of real device is given.


Worm Gear Differential Mechanism Differential Gear Walking Machine Torque Demand 
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Copyright information

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Teresa Zielinska
    • 1
  1. 1.Institute of Aeronautics and Applied MechanicsWUTWarsawPoland

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