Walking Machine Design Based on Certain Aspects of Arthropod Legs

本计画针对步行机设计之研究。 具体来说，这里的主要目标是测试 步行机设计的可行性， 节肢动物腿的特征。 节肢动物被选为 动物模型因其与 目前建造步行机器的工程能力。 昆虫腿的三个重要特征是：1）一个点 与地面接触，2）近似于虎克关节 用于连接到身体，和3）一个单一的旋转关节附近 腿的中间，改变离地面的距离 和胡克接头有联系 这种结构鼓励 据推测，当所有六只脚接触地面时， 只对物体施加力（不施加扭矩）。 当更少的脚 在地面上，最简单的行走方式似乎是停留在 或接近平衡位置。 基于这些的步行机器 提出了概念。 这种步行机的设计是 与目前的设计有很大不同， 机器静态稳定和静态决定的 尽可能的时间。 当这是可能的，简单的控制 可以使用方案来保持平衡。

This project addresses research in walking machine design. Specifically, the primary objective here is to test the feasibility of a walking machine design based on some characteristics of arthropod legs. Arthropods are chosen for the animal model to be emulated because of their similarity to current engineering capabilities for building walking machines. Three important characteristics of insect legs are: 1) a point contact with the ground, 2) a near approximation to a Hooke joint for connection to the body, and 3) a single revolute joint near the middle of the leg which changes distance from the ground contact to the Hooke joint. This structure encourages the speculation that when all six feet contact the ground, the legs exert only forces (no torques) on the body. When fewer feet are on the ground, the simplest way to walk appears to be staying at or near balance positions. A walking machine based on these concepts is proposed. This walking machine design is dramatically different from current designs, and keeps the machine statically stable and statically determinant as much of the time as possible. When this is possible, simple control schemes can be used to maintain balance.