1978-9 – PV-II 4-Legged Walking Machine – Hirose & Umetani (Japanese)
Photo.2 Sensor based stair climibing walk of the PV-II. KUMO-I (1976, see here), PV-II (1978-1979, Photo. 2). The method of locomotion called “walking” requires considerably more actuators than the wheel me thod of locomotion, the drive system is heavy; and it is not simple to control. However, walking machines, because they can move while separately …
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