Journal of Theoretical
and Applied Mechanics

38, 3, pp. 709-725, Warsaw 2000

Design of mechanical and control system of a walking machine

Teresa Zielińska, John Heng, Terence Goh
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