Abstract
Abstract In this paper a model of a six-legged walking machine is introduced considering biological principles. Principles from nature are used both for the geometry of the model and the architecture of the controller. First finding biological principles from measurements of the walking stick insect is presented. As walking machines have a severe load-to-weight problem, a calculation for the best drive combination in the leg joints is done which is a non-linear optimization problem. The investigated ideal motor-gear-combination for the joints is then transferred to a weight-optimal single-leg construction. After the introduction of the mechanical part of the walking machine the new decentral, three-layer control concept is shown. With this biological-like controller the machine can move on unknown, uneven ground automatically detecting and climbing obstacles.
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