This article presents a systematic approach to developing a quadruped walking machine with a single degree-of-freedom(DOF) and with statically stable locomotion. An existing path generator, based on design requirements and constraints, is selected and synthesized into a leg mechanism with a suitable foot path. The crank of the leg is then driven by a two-speed control apparatus to shift the moving speed of the foot point both in support phase and transfer phase. This variable speed control of the crank increases the value of duty factor and improves the stability of locomotion. A prototype walking machine with 8-link type legs is constructed and proved that this approach is feasible for designing various types of single-DOF legged vehicles.
|頁（從 - 到）||353-374|
|期刊||Transactions of the Canadian Society for Mechanical Engineering|
|出版狀態||Published - 2004|
All Science Journal Classification (ASJC) codes