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Mechanical construction and computer architecture of the four-legged walking machine BISAM

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5 Author(s)
Berns, K. ; Interactive Diagnosis & Service-Syst., Forschungs. Inf. Karlsruhe, Germany ; Ilg, W. ; Deck, M. ; Albiez, J.
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Presents a biologically inspired design of a four-legged walking machine. It offers the possibility to investigate reptile- and mammal-like walking with one mechanical concept. A flexible spinal column will support walking with better stability. For the control of the machine, a hierarchical organized computer architecture and a modular software concept are presented

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Mechatronics, IEEE/ASME Transactions on  (Volume:4 ,  Issue: 1 )