Titlebook: Walking Machines; An Introduction to L D. J. Todd Book 1985 D. J. Todd 1985 algorithms.artificial intelligence.mechanics.mobile robot.progr

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Book 1985ground 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

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The mechanics of legged vehicles, we can learn from them. It will then be possible to determine which aspects of animal locomotion can be imitated or improved and which aspects depend on biological properties that cannot be emulated.

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Introduction,ement of many joints as is needed for smooth motion on a rough and obstacle-littered surface. In the last few years the development of computer-controlled machines, especially industrial robots, has resulted in techniques which taken together provide most of the technical base needed to make walking machines possible.

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A brief history of walking machines,is not internally powered but can walk down a slight slope under gravity power, the legs being independently pivoted and not driven by cranks. This principle has been adopted in some prosthetic walking aids. It may have some lessons for the design of power-economical robots.

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General principles of legged locomotion,he animal or machine (hereafter collectively referred to as a .) to exert, against the surface, a force having a component in the direction of motion (but opposite in sign, so that the propulsive force is a backward thrust). In general, there are four kinds of force involved (including propulsive thrust) :

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