Abstract
In this paper the theory and two examples of machine walking is presented. Part I contents the theory of multi-body dynamics, the kinematics and kinetics of rigid body systems seen at the example of a six-legged roboter and the theory of optimization with constraints. Part II contents two examples of walking robots. First, there is a six-legged walking machine whose kinetics, gait patterns and control system are derived from a stick insect. The second example is a tube-crawling robot with eight legs. It has four legs in the front and four legs in the rear. This construction shall enable it to go through pipes with a diameter between 60 and 70 cm.
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© 1997 Springer-Verlag Wien
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Pfeiffer, F., Rossmann, T., Steuer, J. (1997). Theory and Practice of Machine Walking. In: Morecki, A., Waldron, K.J. (eds) Human and Machine Locomotion. International Centre for Mechanical Sciences, vol 375. Springer, Vienna. https://doi.org/10.1007/978-3-7091-2674-5_8
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DOI: https://doi.org/10.1007/978-3-7091-2674-5_8
Publisher Name: Springer, Vienna
Print ISBN: 978-3-211-82905-9
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