Abstract
Mobility and computer control of legs is one of the most important design considerations in mobile robotic systems. Their characteristics and limitations can be studied using a mathematical simulation model. In this study, a nonlinear dynamic model of a hydraulically controlled leg of a walking vehicle is developed. It includes the leg dynamics, the actuation system dynamics, modes of operation and control aspects. Comparison of experimental data with that from the simulation shows that the model predicts the system behaviour accurately. The model has been used to study and improve system response characteristics.
| Original language | English |
|---|---|
| Pages | 117-126 |
| Number of pages | 10 |
| State | Published - 1987 |