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A general model of legged locomotion on natural terrain

  • 系統號： 005147743 | 機讀編目格式

    • 館藏資訊

    Dynamic modelling 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 redistrubution of forces throughout the system.

    資料來源： Google Book
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