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