Footprints in the Asphalt
- 1 June 1984
- journal article
- research article
- Published by SAGE Publications in The International Journal of Robotics Research
- Vol. 3 (2) , 29-36
- https://doi.org/10.1177/027836498400300203
Abstract
This paper describes our experiences with a man-carrying, 1600-lb, gasoline-powered, hydraulically actuated, six-legged walking machine. An on-board computer uses leg position and loading information to select one of a few possible hy draulic connections of the leg actuators by switching direc tional control valves. Passive parallel connections of hydraulic actuators distribute loads equally among several legs, creat ing the effect of a smaller number of "virtual legs. " Series connections of hydraulic actuators achieve coordinated leg motions during walking. The machine uses no sophisticated servos.Keywords
This publication has 1 reference indexed in Scilit:
- Machines That WalkScientific American, 1983