A General Model of Legged Locomotion on Natural Terrain (The Springer International Series in Engineering and Computer Science) by David J. Manko
English | June 30, 1992 | ISBN: 1461365880 | 120 Pages | PDF | 3 MB
Dynamic modeling is the fundamental building block for mechanism analysis, design, control and performance evaluation. One class of mechanism, legged machines, have multiple closed-chains established through intermittent ground contacts. Further, walking on natural terrain introduces nonlinear system compliance in the forms of foot sinkage and slippage. Closed-chains constrain the possible motions of a mechanism while compliances affect the redistribution of forces throughout the system.