Assessment of joint driving configurations for body propulsion of an orthogonal legged walker

Joint driving configurations for an orthogonal legged walker are assessed using a body propulsion model that simulates the dynamics of the body and leg members that move in a lateral plane. The inverse dynamic equations for the model are underspecified when more than three lateral joints are powered. Linear programming techniques are used to determine which lateral joints should be powered to minimize input power to the mechanism while satisfying traction and joint force constraints. The body propulsion model is applied to a walking machine called the Ambler, and a typical body move is simulated for different cycle times, degrees of body tilt, and foot-soil fictional coefficients