Abstract
This monograph develops a model of legged locomotion on natural terrain that, for the first time, incorporates non-conservative foot-soil interactions into a full dynamic formulation. Hence, methods for deriving the equations of motion for robotic systems are essential building blocks. Further, legged machines have multiple closed-chains1 established through ground contacts that must be represented in the dynamic formulation; approaches for modeling motion constraints are examined.
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© 1992 Springer Science+Business Media New York
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Manko, D.J. (1992). Background. In: A General Model of Legged Locomotion on Natural Terrain. The Springer International Series in Engineering and Computer Science, vol 179. Springer, Boston, MA. https://doi.org/10.1007/978-1-4615-3574-4_2
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DOI: https://doi.org/10.1007/978-1-4615-3574-4_2
Publisher Name: Springer, Boston, MA
Print ISBN: 978-1-4613-6588-4
Online ISBN: 978-1-4615-3574-4
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