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Filtering by: Creator Gallops, S. Remove constraint Creator: Gallops, S. Subject Animal locomotion Remove constraint Subject: Animal locomotion

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  • Kinematic analysis of legged system locomotion on smooth horizontal surfaces

    Creator:
    Baek, Yoon Su
    Abstract:
    This thesis presents a model of legged locomotion in which position and velocity of body are directly controlled by positions and velocities of feet. One central relationship between foot acceleration, leg stroke and body velocity is developed. Procedures for determining all parameters of a step sequence including periods of constant...
    Resource Type:
    Dissertation
    Full Text:
    3.2) hB body height from ground (Section 3.1) hF(s); hF,j(s) trajectory of foot in one step