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)
Finite State Control of Quadruped Locomotion
1967
8 pages
Report
Keine Angabe
Englisch