Dynamics and control of 6-legged walking machines
作者： H.-J. Weidemann , F. Pfeiffer
DOI: 10.1007/BFB0031463
关键词: Control (linguistics) 、 Movement (music) 、 Net (mathematics) 、 Control theory 、 Topology (electrical circuits) 、 Motion (physics) 、 Computer science 、 Kinematics 、 Multibody system 、 Basis (linear algebra)
摘要: For the design of technical walking machines a first — step approach using biological constructional conceptions and neurobiological control strategies is presented. A suitable mechanical model consists 19 rigid bodies (1 central body 6 legs with 3 segments each). The form multiple closed kinematic chains corresponding to regarded gait pattern. Thus, changing structure during motion yields dynamic system time-varying topology. stable locomotion future solutions small net neuron-like controllers presented, which designed on basis results research establishes movement.
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