The realization of stable quadruped locomotion through use of a finite control algorithm is discussed. Results confirm the validity of conjectures that stable locomotion is achievable through the use of on-off actuators at each joint and that coordination of joint motions can be accomplished by a simple finite algorithm implemented as a small special-purpose digital computer. A quadruped with four identical legs, each with a powered hip joint and knee joint, was constructed and tested. Results suggest applications in the fields of prosthetics and orthotics and off-the-road vehicular design. (Author)


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    Titel :

    Finite State Control of Quadruped Locomotion


    Beteiligte:
    R. B. McGhee (Autor:in)

    Erscheinungsdatum :

    1967


    Format / Umfang :

    8 pages


    Medientyp :

    Report


    Format :

    Keine Angabe


    Sprache :

    Englisch




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