Jump to ContentJump to Main Navigation
Living machinesA handbook of research in biomimetics and biohybrid systems$
Users without a subscription are not able to see the full content.

Tony J. Prescott, Nathan Lepora, and Paul F.M.J Verschure

Print publication date: 2018

Print ISBN-13: 9780199674923

Published to Oxford Scholarship Online: June 2018

DOI: 10.1093/oso/9780199674923.001.0001

Show Summary Details
Page of

PRINTED FROM OXFORD SCHOLARSHIP ONLINE (www.oxfordscholarship.com). (c) Copyright Oxford University Press, 2019. All Rights Reserved. Under the terms of the licence agreement, an individual user may print out a PDF of a single chapter of a monograph in OSO for personal use (for details see www.oxfordscholarship.com/page/privacy-policy).date: 23 April 2019

Quadruped locomotion

Quadruped locomotion

Chapter:
(p.289) Chapter 31 Quadruped locomotion
Source:
Living machines
Author(s):

Hartmut Witte

Martin S. Fischer

Holger Preuschoft

Danja Voges

Cornelius Schilling

Auke Jan Ijspeert

Publisher:
Oxford University Press
DOI:10.1093/oso/9780199674923.003.0031

This chapter considers locomotion in living machines, focusing particularly on mammals and on the possibility of designing mammal-like quadrupedal robots. Locomotion is the movement of an organism or a machine from one place to the other, covering a defined minimal distance. In organisms, locomotion usually is driven by a central element and/or appendices. Vertebrates are characterized by the existence of a spine and the mechanics of an endoskeletal system. The amphibio-reptile type of vertebrate locomotion shows oscillations of the body stem mainly in the horizontal, which are coupled to the ground by legs with two long segments. The vertical oscillations of the body stem in the mammal type of quadrupedal locomotion are coupled to the ground by legs with three long segments. For any size of animal and any allometric relation between mass and ground reaction force the resonance mechanisms of gravitational and spring-mass-pendula are tuned to one each other. Elongated feet allow torque exchange with the substrate.

Keywords:   locomotion, principles, biomechanics, quadrupedal, quadruped, mammal, reptile, robot, walking machine, biorobots

Oxford Scholarship Online requires a subscription or purchase to access the full text of books within the service. Public users can however freely search the site and view the abstracts and keywords for each book and chapter.

Please, subscribe or login to access full text content.

If you think you should have access to this title, please contact your librarian.

To troubleshoot, please check our FAQs , and if you can't find the answer there, please contact us .