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Dynamics and control of 6-legged walking machines

  • Part 9 Biomechanical Aspects Of Robots And Manipulators 2
  • Conference paper
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RoManSy 9

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 187))

Abstract

For the design of technical walking machines a first — step approach using biological constructional conceptions and neurobiological control strategies is presented. A suitable mechanical model consists of 19 rigid bodies (1 central body and 6 legs with 3 segments each). The bodies form multiple closed kinematic chains corresponding to the regarded gait pattern. Thus, the changing structure during the walking motion yields a dynamic system with time-varying topology. For a stable locomotion control of future technical solutions a small net of neuron-like controllers is presented, which is designed on the basis of results of neurobiological research and establishes a stable gait movement.

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Author information

Authors and Affiliations

  1. Institute B of Mechanics, Dept. of Mechanical Engineering, Technical University, Postfach 20 24 20, D-8000, München 2

    H.-J. Weidemann & F. Pfeiffer

Authors
  1. H.-J. Weidemann
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  2. F. Pfeiffer
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Editor information

A. Morecki G. Bianchi K. Jaworek

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© 1993 Springer-Verlag London Limited

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Weidemann, HJ., Pfeiffer, F. (1993). Dynamics and control of 6-legged walking machines. In: Morecki, A., Bianchi, G., Jaworek, K. (eds) RoManSy 9. Lecture Notes in Control and Information Sciences, vol 187. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0031463

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  • DOI: https://doi.org/10.1007/BFb0031463

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-19834-5

  • Online ISBN: 978-3-540-39315-3

  • eBook Packages: Springer Book Archive

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