Title :
A design concept for legged robots derived from the walking stick insect
Author :
Weidemann, H. J ü ; Pfeiffer, F. ; Eltze, J.
Author_Institution :
Lehrstuhl B fur Mechanik, Tech. Univ., Munchen, Germany
Abstract :
The authors present a study of the geometrical aspects, the inverse and direct dynamics and the control design for a six-legged walking machine. They take special regard to the design and control concepts used by nature in six-legged insects, which walk and climb very efficiently over arbitrary irregular surfaces
Keywords :
legged locomotion; design concept; direct dynamics; geometrical aspects; inverse dynamics; irregular surfaces; legged robots; six-legged walking machine; walking stick insect; Animals; Control design; Insects; Kinematics; Leg; Legged locomotion; Motion control; Sea surface; Switches; Vehicle dynamics;
Conference_Titel :
Intelligent Robots and Systems '93, IROS '93. Proceedings of the 1993 IEEE/RSJ International Conference on
Conference_Location :
Yokohama
Print_ISBN :
0-7803-0823-9
DOI :
10.1109/IROS.1993.583166
