Walking machines for space

Details Walking machines for space Walking machines for space

Jan 1993

adsabs.harvard.edu/cgi-bin/nph-data_query?bibcode=1993dpmv.book..377e&link_type=abstract

In CNES, Missions, Technologies, and Design of Planetary Mobile Vehicles p 377-384 (SEE N94-23373 06-91)

Mathematics

Control Systems Design, Kinematics, Kinetics, Space Exploration, Walking Machines, Geometry, Insects, Optimization, Robustness (Mathematics), Roving Vehicles

Scientific paper

A study of a new walking machine model differing from existing walking machines both in geometry and control is presented. The main criteria used in the model are not technical principles as used in existing walking machines, but rather biological principles found in insects, the living prototypes of walking machines. The goal of this method is to obtain a harmonic gait which is very robust against disturbances and therefore is suitable to be used on uneven ground found on planets. The geometry, the kinematics and the kinetics of the walking machine model is introduced and the control is explained. Experimental results of this concept tested on a single laboratory leg are shown to prove the robustness of the controller.

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