Bionic Aluv Walking Mechanism And Control Strategy

This paper presents a crab-like model to study the eight-legged walking machine, applies it to the have-mechanism, and calculates the kinematics' formula. Also gives a series of formulas about dynamics deduced from Lagrange's equation and the kinematics with the means of series-parallel analysis by simulating the ways according the theory of influence coefficient, then the kinematics' equation of eight-legged machine was given. The ways to control the machine, some advance products in other fields, the means of the multinomial calculation were used into the track analysis to analyze the characteristic of the machine, and prove the rationality of this model. This model may provide some help in the field of the eight-legged machine.