- Authors:
- Shin-Min Song,
- Kenneth J. Waldron
From the Publisher:
What is 16 feet long, 10 feet high, weighs 6,000 pounds, has six legs, and can sprint at 8 mph and step over a 4 foot wall__ __ The Adaptive Suspension Vehicle (ASV) described in this book.
Machines That Walk provides the first in depth treatment of the "statically stable walking machine" theory employed in the design of the ASV, the most sophisticated, self contained, and practical walking machine being developed today. Under construction at Ohio State University, the automatically terrain adaptive ASV has one human operator, can carry a 500 pound payload and is expected to have better fuel economy and mobility than that of conventional wheeled and tracked vehicles in rough terrain.
The development of the ASV is a milestone in robotics research, and Machines That Walk provides a wealth of research results in mobility, gait, static stability, leg design, and vertical geometry design. The authors' treatment of statically stable gait theory and actuator coordination is by far the most complete available.
Shin Min Song is an Assistant Professor in the Department of Mechanical Engineering at the University of Illinois at Chicago. Kenneth J. Waldron is Nordholt Professor in the Department of Mechanical Engineering at Ohio State University.
Cited By
- Kamidi V, Saab W and Ben-Tzvi P Design and analysis of a novel planar robotic leg for high-speed locomotion 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (6343-6348)
- Krishna P, Kumar R and Srivastava S Level Trot Gait in Quadruped Robots Proceedings of Conference on Advances In Robotics, (1-5)
- Barai R, Saha P and Mandal A SMART-HexBot Proceedings of Conference on Advances In Robotics, (1-7)
- Roy S and Pratihar D (2013). Adaptive neuro-fuzzy expert systems for predicting specific energy consumption and energy stability margin in crab walking of six-legged robots, Journal of Intelligent & Fuzzy Systems: Applications in Engineering and Technology, 24:3, (467-482), Online publication date: 1-May-2013.
- Roy S and Pratihar D (2012). Soft computing-based expert systems to predict energy consumption and stability margin in turning gaits of six-legged robots, Expert Systems with Applications: An International Journal, 39:5, (5460-5469), Online publication date: 1-Apr-2012.
- Lv X and Liu Y A bionic gait programming algorithm for hexapod robot Proceedings of the 2nd International Conference on Interaction Sciences: Information Technology, Culture and Human, (1172-1175)
- Vernaza P, Likhachev M, Bhattacharya S, Chitta S, Kushleyev A and Lee D Search-based planning for a legged robot over rough terrain Proceedings of the 2009 IEEE international conference on Robotics and Automation, (3721-3728)
- Yang J (2008). Omnidirectional walking of legged robots with a failed leg, Mathematical and Computer Modelling: An International Journal, 47:11-12, (1372-1388), Online publication date: 1-Jun-2008.
- Silva M, Machado J and Barbosa R (2006). Complex-order dynamics in hexapod locomotion, Signal Processing, 86:10, (2785-2793), Online publication date: 1-Oct-2006.
- De Santos P, Estremera J, Garcia E and Armada M (2019). Including Joint Torques and Power Consumption in the Stability Margin of Walking Robots, Autonomous Robots, 18:1, (43-57), Online publication date: 1-Jan-2005.
- Gonzalez De Santos P, Jimenez M and Armada M (1998). Dynamic Effects in Statically Stable Walking Machines, Journal of Intelligent and Robotic Systems, 23:1, (71-85), Online publication date: 1-Sep-1998.
- Sukhatme G (1997). The Design and Control of a Prototype Quadruped Microrover, Autonomous Robots, 4:2, (211-220), Online publication date: 1-May-1997.
- Kajita S and Tani K (1997). Adaptive Gait Control of a Biped Robot Based on RealtimeSensing of the Ground Profile, Autonomous Robots, 4:3, (297-305), Online publication date: 1-Jul-1997.
- McKenna M and Zeltzer D Dynamic simulation of autonomous legged locomotion Proceedings of the 17th annual conference on Computer graphics and interactive techniques, (29-38)
- McKenna M and Zeltzer D (2019). Dynamic simulation of autonomous legged locomotion, ACM SIGGRAPH Computer Graphics, 24:4, (29-38), Online publication date: 1-Sep-1990.
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