Dynamic modeling, stability, and energy efficiency of a quadrupedal walking machine

  title={Dynamic modeling, stability, and energy efficiency of a quadrupedal walking machine},
  author={Ben-Sheng Lin and Shin-Min Song},
  journal={J. Field Robotics},
In the past, the dynamics of walking machines was studied based on very simple or simplified leg structures. A more complete dynamic model is essential for the further development of a practical walking machine. In this paper, the dynamic model of a realistic quadrupedal walking machine is derived for simulation and real-time control purposes. The walker has four cylindrical pantograph legs, and the whole system consists of twentynine links. The walking gait is a wave gait with at least three… CONTINUE READING
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