This paper presents the design of a four-legged walking machine with a versatile leg construction. It offers the possibilty to investigate reptile-and mammal-like walking with only one mechanical realization. A flexible spinal will support walking with better stability. For the control of the machine, a hierarchical organized control hardware will be used, which has been very successful on our ohter walking machines.
scite is a Brooklyn-based organization that helps researchers better discover and understand research articles through Smart Citations–citations that display the context of the citation and describe whether the article provides supporting or contrasting evidence. scite is used by students and researchers from around the world and is funded in part by the National Science Foundation and the National Institute on Drug Abuse of the National Institutes of Health.