The Analysis of Gaits in Six-Legged Vehicles According to Their Static Stability
For the sake of convenience the study of walking vehicles may be subdivided into three large groups according to the number of legs attached to each vehicle, namely, biped, quadruped and six-legged. Each of these means of transport has its merits and demerits. For example, biped vehicles will probably reveal utmost manoeuvrability and land mobility and least stability, and, as a result of the latter, require a most complex control system for balance maintenance.
KeywordsStability Range Stable Gait Supporting Polygon Legged Locomotion Minimal Reserve
Unable to display preview. Download preview PDF.
- GRAY J., Studies in the mechanics of tetrapod skeleton, Journ. Exper. Biol., 7, 1944.Google Scholar
- FRANK A.A., McGHEE R.B., Some considerations relating to the design of autopilot for legged vehicles, Terramechan., 6, 1, 1969.Google Scholar
- PETTERNELLA M., I veicoli camminatori, L’Elettrotecnica, LIX, 5, 1972.Google Scholar
- OHOTSIMUSKI D.E., PLATONOV A.K., Digital computer-simulation of the legged locomotion system, IV IFAC Symposium on automatic control in space, Dubrovnik, 1971.Google Scholar
- SUKHANOV V.B., General system of symmetrical locomotion of terrestrial vertebrates and some features of movement of lower tetrapods. “Nauka”, Leningrad, 1968 (in Russian).Google Scholar
- WILSON D.M., Insect walking, Annual Rev. Entomol., I I, 1966.Google Scholar