The Tum-Walking Machine

ABSTRACTThe TUM-walking machine is a six-legged mechanism, the design criteria of which are derived from biological walking. This article presents the main features of kinematics, kinetic, and control which follow principally new findings in the area of neurobiological concepts of insect walking. Technological design problems are heavily characterized by the realization of a good load to weight ratio of the legs, which is about six. Walking experiments show the advantages of our concept.

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