Walking: Biological and Technological Aspects
Friedrich Pfeiffer, Teresa Zielinska
Springer Science & Business Media, Oct 20, 2004 - Technology & Engineering - 191 pages
The book describes the results of research into the living world, which were conducted in such a way as to provide inspiration to engineering design of walking machines. The biological topics are presented in a form that is intelligible to engineers and can be applied in the design of mechanical devices. The text also introduces the design problems that are encountered during prototyping of specific robots. This information provides insight to biologists interested in basic physical properties of locomotion.
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action active actuators adapt angles animal antennae applied approach assumed behaviour biological body central changes climbing cockroach complex connected considered control system coordination Cruse depends described determined developed direction dynamic effect energy environment example fibers Figure foot force forward front legs functions gait ground groups hind human important increase influences input intelligence joint kinematics leads leg-end length lift limb limit load locomotion mass measured mechanical method motion motor move movement muscle neurons normal observed obstacles organs orientation oscillators output pattern performance phase position possible posture problems produced properties realized relative robots segments sensors side signals similar simple simulation situations solutions speed stable stance step stick insect structure swing task torque trajectory transfer turning units values vertebrates walking machines weight