|
|
|
|
|
|
|
|
|
|
|
• |
Current
leg systems are either fast or can handle rough terrain
|
|
|
• |
Biology
suggests emphasis on good mechanical design
|
|
|
|
– |
enhances
capability
|
|
|
|
– |
simplifies
control
|
|
|
• |
Purely
clock-driven systems can be fast and robust
|
|
|
• |
Floquet
technique can be used to indicate locomotion robustness
|
|
• |
Trends
can be established to improve design and provide insight
|
|