Title :
On the design of a four-legged walking machine
Author :
Cordes, S. ; Berns, K. ; Eberl, M. ; Ilg, W. ; Bührle, Peter
Author_Institution :
Forschungszentrum Inf. Karlsruhe, Germany
Abstract :
This paper presents the design of a four-legged walking machine with a versatile leg construction. It offers the possibility to investigate reptile- and mammal-like walking with only one mechanical realization. A flexible spine will support walking with better stability. For the control of the machine, a hierarchical organized control hardware will be used, which has been very successful on our other walking machines
Keywords :
hierarchical systems; legged locomotion; mobile robots; robot dynamics; robot kinematics; robot vision; stereo image processing; flexible spine; four-legged walking machine; hierarchical organized control hardware; mammal-like walking; reptile-like walking; Actuators; Control systems; Equations; Gears; Hardware; Leg; Legged locomotion; Robot kinematics; Stability; Symmetric matrices;
Conference_Titel :
Advanced Robotics, 1997. ICAR '97. Proceedings., 8th International Conference on
Conference_Location :
Monterey, CA
Print_ISBN :
0-7803-4160-0
DOI :
10.1109/ICAR.1997.620163
