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Programming of Walking Legs, their Leg Tip Motion and the Leg Tip Digital Locus

Excerpt

Preceding chapters have laid the foundation for vehicle motion in a ground plane helped by a practical application of a wheeled robot in chapter 3. We will extend these ideas in successive chapters to a hybrid 2-wheeled/2-legged robot, figure 4.1, known as the Rickshaw Robot and a six legged robot, figure 4.2, the Hexapod Robot.

4.1Introduction
4.2The 3 degree-of-freedom leg, (3dof leg)
4.3Leg layout of omni-directional robot
4.4The leg tip locus
4.5Translation of the robot body
4.6Details of the leg tip locus
4.7Height modification of the rectangular locus
4.8Leg tip speed along the locus
4.9Computing leg tip speed as a function of step height and step amplitude
4.10Leg tip locus design specification
4.11Achieving the leg tip locus specification via a Digital Locus
4.12Using the n-variable to increment the leg tip through a walking locus
4.13The breakpoints of the digital locus, bp1 and bp2
4.14Distance travelled by leg tip along the digital locus
4.15Computation of, R, and, Z, values of the leg tip on the digital locus
4.16The clock; adding time to the control of leg tip position
4.17Using microcomputers to step the digital locus through a sequence
4.18The 50Hz, 20ms clock
4.19The two anti-phase sawtooth waveforms to produce the double tripod gait
4.20Dynamic Response of the leg servos
4.21Computing, R, and, Z, values of the Digital Locus using a BS2SX computer program

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