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General principles of legged locomotion 3 5
The mechanics of legged vehicles
6 other sections not shown
acceleration achieved actuators algorithm alternating angular animals applications axis behaviour bipeds body attitude built Carnegie-Mellon centre of mass coordinates cycle cylinder discussed drives dynamics Electric engineering example exoskeleton feet finite state control foot placement force friction function geometry ground hexapod hopper hopping horizontal hydraulic industrial robots inertia inverted pendulum joint angles joint torques knee leg arrangement leg geometry legged locomotion legged machines legged robots legged vehicles linkage load McGhee mechanical methods mobile model reference control motion planning motor move movement multipod obstacles Odex pantograph phase pitch plane pneumatic position possible problem processors propulsion stroke quadruped Raibert resistance rotation segment sensors servo control shown in Figure slope soil specified speed stability statically stable structure surface Suspension Vehicle terrain adaptability torque touch-down tracks trajectory usually valves variable displacement pump velocity vertical Vukobratovic walking machines Walking Truck wave gait wheels