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

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5 Author(s)
K. Berns ; Interactive Diagnosis & Service-Syst., Forschungs. Inf. Karlsruhe, Germany ; W. Ilg ; M. Deck ; J. Albiez
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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

Published in:

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