Design of Walking Machines
The configurations of the electromechanical system, and the information and sensing systems, the geometry of the machine, and the methods used to coordinate its motions all interact intimately. For this reason the design of a legged locomotion system is challenging, quite apart from the technical challenges of understanding the mechanics of legged locomotion. A fundamental question is: What issues should be addressed first? It is reasonable to address the mechanics of the locomotion system first. A fundamental question of approach is whether to use a statically stable or dynamically stable approach to postural control. This is less a hard dichotomy than it might appear since a system with practical scale will require some degree of dynamic stabilization, even if it is designed on statically stable principles.
KeywordsContact Force Stance Phase Gait Pattern Inertial Navigation System Vehicle Body
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