Theory and Practice of Machine Walking

  • F. Pfeiffer
  • Th. Rossmann
  • J. Steuer
Part of the International Centre for Mechanical Sciences book series (CISM, volume 375)


In this paper the theory and two examples of machine walking is presented. Part I contents the theory of multi-body dynamics, the kinematics and kinetics of rigid body systems seen at the example of a six-legged roboter and the theory of optimization with constraints. Part II contents two examples of walking robots. First, there is a six-legged walking machine whose kinetics, gait patterns and control system are derived from a stick insect. The second example is a tube-crawling robot with eight legs. It has four legs in the front and four legs in the rear. This construction shall enable it to go through pipes with a diameter between 60 and 70 cm.


Stance Phase Central Body Gait Pattern Stick Insect Tripod Gait 
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Copyright information

© Springer-Verlag Wien 1997

Authors and Affiliations

  • F. Pfeiffer
    • 1
  • Th. Rossmann
    • 1
  • J. Steuer
    • 1
  1. 1.Technical University of MunichMunichGermany

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