Journal of Theoretical
and Applied Mechanics
38, 3, pp. 709-725, Warsaw 2000
Design of mechanical and control system of a walking machine
Authors describes design problems of currently being build six-legged walking machine. First mechanical structure is introduced, next hardware structure is described. Finally problems related to the synthesis of control system, gait planning and force, distance sensing are discussed. Same experimental results are given.
Keywords: walking machines; mechanical and control system design; hexapods