Dynamic Legged Mobility---an Overview

摘要: Ability to translate a goal position under the constraints imposed by complex environmental conditions is key capability for biological and artificial systems alike. Over billions of years evolutionary processes have developed wide range solutions address mobility needs in air, water on land. The efficacy such locomotors beyond capabilities engineering that has been produced this date. Nature will surely remain be source inspiration engineers their quest bring "real mobility" creations. In recent new class dynamic legged terrestrial robotic [1, 4] inspired by, but without mimicking, examples from Nature. experimental work with these platforms over past decade led an improved appreciation locomotion. This paper overview fundamental advantages locomotion offers classical wheeled tracked approaches