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Stability of translational motion of a walking machine with cyclic drives

✍ Scribed by Briskin, E. S.; Leonard, A. V.


Book ID
121593152
Publisher
SP MAIK Nauka/Interperiodica
Year
2013
Tongue
English
Weight
525 KB
Volume
52
Category
Article
ISSN
1064-2307

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A six-legged hydraulic walking machine, called MECANT I, is introduced. It has been developed for research purposes in outdoor environments. The paper describes the motion planning method used. It is based on a "top-down" appcoach where the vehicle body motion control is executed through the body mo