Development of PC and transputer-based walking robots

Robotic walking is one of the key activities on the critical path to the integration of computers into a world designed for use by bipeds, the others being real-time image processing, scene analysis and depth ranging, and touch sensors for force feedback. The dynamic control of balance while walking, by stepwise refinement of controllers for successively decreasing numbers of legs is considered. With this aim the authors have constructed a 6, a 4, and most recently a 2 legged robot. The work done on PC and transputer-based hexapod and quadruped is described