Control of legged vehicles
by N.D. Ebrahimi
International Journal of Vehicle Design (IJVD), Vol. 6, No. 4/5, 1985

Abstract: Since the off-road mobility characteristics of wheeled or tracked vehicles are generally considered to be inferior to those of man or cursorial animals, it is desirable to design vehicles that can be adjustable to variations in terrain profile. The proposed solution for this need is legged locomotion. Research on legged vehicles has focused on obtaining the number of legs (and gait patterns) for maximum stability of the vehicle as well as establishing control schemes for monitoring the walking process. In spite of several years of research by a number of scientists, a practial legged vehicle is not yet commercially available. In this paper the results of a state-of-the-art review of literature on walking vehicles are presented.

Online publication date: Sun, 25-May-2014

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