Abstract
This study is motivated by the need of dynamics-based methodologies for overall design of legged robots (LR). Along with the basic design requirement for strength/load capacity, additional design criteria for LR are needed to meet the continuously increasing demands for faster motion, higher position accuracy and reduced energy consumption. A conceptual framework for their integrated structure-control design is proposed that can be used to create LR with maximum capability to achieve the required dynamic performance. To verify our design optimisation concepts, several interesting examples regarding two- and four-LR are considered.
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© 2006 Springer-Verlag Berlin Heidelberg
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Kiriazov, P. (2006). Integrated Structure-control Design of Dynamically Walking Robots. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_35
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DOI: https://doi.org/10.1007/3-540-26415-9_35
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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