精选优质文档-倾情为你奉上Development of a walking machine: mechanicaldesign and control problemsTeresa Zielinska *, John HengAbstractThis paper describes: a novel design of the leg drive mechanism, hardware architecture andthe leg control method for a walking machine being developed to study various walking gaitstrategies. The leg mechanism employs an inverse differential gear drive system providing largeleg lift and swing sweep angle about a common pivotal point while being driven colle
