Precision Programming of Roving Robots: Project-Based Fundamentals of Wheeled, Legged and Hybrid Mobile Robots
4. Programming of Walking Legs, their Leg Tip Motion and the Leg Tip Digital Locus
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Preceding chapters have laid the foundation for vehicle motion in a ground plane helped by a practical application of a wheeled robot in chapter 3. We will extend these ideas in successive chapters to a hybrid 2-wheeled/2-legged robot, figure 4.1, known as the Rickshaw Robot and a six legged robot, figure 4.2, the Hexapod Robot.