Walking Machines: An Introduction to Legged RobotsThe first chapter of this book traces the history of the development of walking machines from the original ideas of man-amplifiers and military rough-ground transport to today's diverse academic and industrial research and development projects. It concludes with a brief account of research on other unusual methods of locomotion. The heart of the book is the next three chapters on the theory and engineering of legged robots. Chapter 2 presents the basics of land loco motion, going on to consider the energetics of legged movement and the description and classification of gaits. Chapter 3, dealing with the mechanics of legged vehicles, goes into leg number and arrangement, and discusses mechanical design and actuation methods. Chapter 4 deals with analysis and control, describing the aims of control theory and the methods of modelling and control which have been used for both highly dynamic robots and multi-legged machines. Having dealt with the theory of control it is necessary to discuss the computing system on which control is to be implemented. This is done in Chapter 5, which covers architectures, sensing, algorithms and pro gramming languages. Chapter 6 brings together the threads of the theory and engineering discussed in earlier chapters and summarizes the current walking machine research projects. Finally, the applications, both actual and potential, of legged locomotion are described. Introduction Research into legged machines is expanding rapidly. There are several reasons why this is happening at this particular time. |
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achieved actuators algorithm alternating angular animals ankle applied axis balance behaviour bipeds body attitude centre of mass Chapter coordinates cycle cylinder described dynamics electric engineering equations of motion example exoskeletons feet finite state control foot placement force friction function gait diagram geometry ground hexapod hopping horizontal hydraulic industrial robots inertia inverted pendulum joint angles joint torques kinetic energy knee leg arrangement leg geometry legged locomotion legged machines legged robots legged vehicles linkage load M₂ methods mobile model reference control motor move movement multipod number of legs obstacles Odex oscillation pantograph pitch plane pneumatic position possible problem propulsion stroke quadruped rotation segment sensors servo control shown in Figure slope soil specified speed stability statically stable stride length structure surface Suspension Vehicle terrain adaptability torque touch-down trajectory valves variable displacement pump velocity vertical Vukobratovic walking machines Walking Truck wave gait wheels