A General Model of Legged Locomotion on Natural Terrain

ISBN-13: 9780792392477 / Angielski / Twarda / 1992 / 116 str.

David J. Manko

Opis

Dynamic modelling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistrubution of forces throughout the system.