Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1994-11-03
1997-07-01
Masih, Karen
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
901 1, 395 95, 31856818, 31856825, B25J 500
Patent
active
056442041
ABSTRACT:
A control system for a dynamic legged running machine, with improvements to improve stability by preventing or limiting foot slippage. The transverse force applied to a foot in contact with the ground is limited to a value below that at which slipping would occur. A method of operating a three-jointed leg is also provided so that balance and slip control is improved. Applications include legged mechanical robots and simulations of legged machines, animals, or humans.
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