Witte, Hartmut; Hackert, Remi; Lilje, Karin E.; Schilling, Nadja; Voges, Dannja; Klauer, Gertrud; Albiez, Winfried Ilg. Jan; Seyfarth, Andre; Germann, Daniel; Hiller, Manfred; Dillmann, Rüdiger; Fischer, Martin S.:

Transfer of Biological Principles into the Construction of Quadruped Walking Machines

In: Proc. of the 2nd International Workshop on Robot Motion and Control RoMoCo
University Duisburg-Essen, Faculty of Engineering, Chair of Mechatronics Lotharstraße 1, 47057 Duisburg, Germany (2001)
Buchaufsatz / Kapitel / Fach: Maschinenbau
Abstract:
In the wide rang of possible biological and technical solutions for legged terrestrial locomotion, quadrupeds represent a compromise between leightweight construction,dynamic stability, and usage of self-stabilizing effects and minimization of neutral control. Several biochemical features indicate that mammals form interesting and preferable paragons for the construction of walking machines, even if their morphology and locomotory functions in some issues seem to  be more complicated than that of the phylogenetically older amphibians and reptiles.