Basic Design and Synchronized Motion Control for Hexapod Walking Machine
Katsuhiko Inagaki and Hisato Kobayashi
Department of Electrical Engineering., Hosei University, 3-7-2 Kajino-cho, Koganei, Tokyo, 184 Japan
This paper discusses a new mechanism and a new method of motion control for a multi-legged walking machine. The new mechanism provides high energy efficiency which is one of the most important points of walking machines. This problem is solved combining a gasoline engine and an electromagnetic clutch system. In addition, synchronized motion control is also proposed for this mechanism. This control is based on the notion of an autonomous distributed control. Thus, this system has sufficient flexibility and reliability.
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