Author | Todd, D. J. author |
---|---|
Title | Walking Machines [electronic resource] : An Introduction to Legged Robots / by D. J. Todd |
Imprint | Boston, MA : Springer US, 1985 |
Connect to | http://dx.doi.org/10.1007/978-1-4684-6858-8 |
Descript | 190 p. online resource |
Advantages of legs -- Terminology -- 1 A brief history of walking machines -- Rough-terrain transport -- Bipeds: medical applications and man-amplifiers -- The modern era: computer control -- Alternative mechanisms of locomotion -- 2 General principles of legged locomotion -- The theory of land locomotion in general -- The soil mechanics of wheels -- Locomotion using levers -- Soil mechanics and the difference between feet and wheels -- The energetics of legged locomotion -- Other properties of legs -- Mechanisms other than legs -- Aids to locomotion -- Non-locomotory uses of appendages -- Description and classification of gaits -- 3 The mechanics of legged vehicles -- Animal structures and their applications to robots -- Leg number and arrangement -- Leg design -- Structure -- Actuation methods -- 4 The analysis and control of legged systems -- Purpose of analysis and control -- The objectives of control in legged locomotion -- Dynamics -- Multipod control -- 5 Computing: hardware and software requirements -- Computer architectures -- Sensing methods -- The design of algorithms for multipod walking -- Programming languages for legged robots -- 6 Current developments -- The Ohio State University hexapod and adaptive suspension vehicle -- ReCUS: the Komatsu underwater octopod -- Sutherlandโs hexapod -- The Odetics ODEX I -- Quadruped research at the Tokyo Institute of Technology -- Walking robots in France -- Jurassic Robots -- Current research on bipeds -- Research on hopping at Carnegie-Mellon University -- Conclusions -- 7 Applications of walking machines -- Military transport -- Mining -- Nuclear engineering and other cases of remote handling -- Prosthetics and orthotics: walking chairs -- Planetary exploration -- Construction and related activities -- Agriculture and forestry -- Mobile robots in artificial intelligence -- Fire-fighting and rescue robots -- Applications unlikely to be suitable for walking machines -- The study of locomotion (zoology and engineering) -- Education, art and entertainment -- References and bibliography