Integrated Walking Robot Simulation and Modelling

Force Sensing for Multi-Legged Walking Robots: Theory and Experiments Part 1: Overview and Force Sensing

“…2.9). The parameters of the machine are the follows: body length 0,6 m, body width 0,25 m, weight 56 kg, length of leg 0,4 m, velocity 0,2 m/s (Okhotsimski & Platonov, 1976;Okhotsimski et al, 1978). A second mechanical model of this robot was developed at the Institute VNIITRANSMASH (St. Petersburg).…”

Analysing and solving body misplacement problems in walking robots with round rigid feet

“…Some of these machines use a rubber ball foot. This is the case of the hexapods MASCHA [8], Silex [9], Lauron III [10], TUM [11], TARRY II [12] and the quadrupeds Scout II [13] and RIMHO [14].…”

The gait control system of a quadruped walking vehicle

“…On the other hand, a variety of studies have been conducted on artificial walking machines and research on gait control was reported [2][3][4][5][6]. The authors have made several basic studies in this field [7][8][9][10][11][12][13][14][15].…”

“…In order to systematically discuss the basic structure of a walking vehicle control system, the present paper first defines several fundamental issues (in Section 2), clarifies the overall picture of the hierarchy intelligence structure (in Section 3) and introduces the basic concepts in the walk control (in Section 4). As for each subsystem, a generally-practiced predictive gait-determining system is discussed in details (in Sections 5,6,7 and 8), and subsequently emergent motions are explained (in Section 9). Finally, the accuracy of those discussions is confirmed by a walkcontrol demonstration using the experimental machine TITAN III actually implemented with the control system design based on the studies (in Section 10).…”