Multi-legged walking machine body design

Robotica

Volumn 15, Issue 6, 1997, Pages 593-598

  Zhang, S J ^a   Howard, D ^a   Sanger, D J ^a   Miao, S ^a  

^a UNIVERSITY OF SALFORD   (United Kingdom)

Author keywords

Body design; Multi legged; Static workplace; Walking machine

Indexed keywords

MACHINE DESIGN; TORQUE;

INSTALLED JOINT TORQUES; MULTI LEGGED WALKING MACHINES; STATIC WORKPLACE;

MOBILE ROBOTS;

EID: 0031269059     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574797000714     Document Type: Article

References (9)

1. S.M. Song and K.J. Waldron, Machines That Walk: The Adaptive Suspension Vehicle (MIT Press, Cambridge, Mass., 1989).
2. D.J. Todd, Walking Machines, An Introduction to Legged Robots (Kogan Page, London, 1985).
3. M.H. Raibert, Legged Robots That Balance (The MIT Press, Cambridge. Mass. 1986).
4. H.J. Weidemann, F. Pfeifer and J. Eltze, "Design Concept for Legged Robots Derived from the Walking Stick Insects" Proceedings of IEEE/RS1 International Conference on Intelligent Robots and Systems. Yokohama, Japan (July 26-30, 1993) pp. 545-552.
5. K.J. Waldron and R.B. McGhee, "Configuration Design of the Adaptive Suspension Vehicle" Int. J. Robotics Research 3, 37-48 (1984).
6. A.A. Collie, J. Billingsley and E.V. Puttkamer, "Design and Performance of the Portsmouth Climbing Robot" J. Mechatronic System Engineering 1, 125-130 (1990).
7. S. Hirose, "A Study of Design and Control of a Quadruped Walking Machine Vehicle" Int. J. Robotics Research 4, 113-133 (1984).
8. D. Howard, S.J. Zhang and S. Miao, "Multi-legged Walker Design - the Joint Torque Versus Workspace Compromise" (Submitted to Journal of Mechanical Engineering Science, IMechE, 1996).
9. S.J. Zhang, D. Howard and D.J. Sanger "Workspaces of Walking Machines, Part II: Static Workspaces" Robotica 14, Part 1, 19-226 (1996).