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Walking machines have advantages over traditional vehicles, and have already accomplished tasks that wheeled or tracked robots cannot handle. Nevertheless, their use in industry and services is currently limited in scope. This book brings together methods and techniques that have been developed to deal with obstacles to wider acceptance of legged robots. Part I provides an historical overview. Part II concentrates on control techniques, as applied to Four-legged robots.

Quadrupedal Locomotion: An Introduction to the Control of Four-legged Robots

Part I Walking Measurements and Algorithms
Walking Robots
Stability in Walking Robots
Generation of Periodic Gaits
Generation on Non-periodic Gaits
New Approaches to Stability Part II Control Techniques
Kinematics and Dynamics
Improving Leg Speed by Soft Computing Techniques
Virtual Sensors for Walking Robots
Human-Machine Interaction
The SIL04 Walking Robot
Simulation Software for Walking Robots