By H BAXTER WILLIAMS
An entire and incisive survey of the tools used and outlines in their working principles.
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Additional info for Applied Instrumentation in the Process Industries, Second Edition: Volume 1: A Survey, Second Edition
While a wide range of hybrid strategies demonstrated the capacity for high performance running, those at the 110◦ nominal leg angle showed the highest levels of speed and stability. Furthermore, a fairly consistent actuator work distribution of approximately 75 %\25 % prismatic to torsional was found for stable running gaits. e. e. 2 w. This distribution of 69 %\31 % prismatic to torsional is in line with the observed simulation behavior. 6 Conclusion In this work, we have investigated running with prismatic and torsional, as well as hybrid actuation to examine the effects of each strategy on the overall running performance.
47. : Qualitative and quantitative comparison of government and industry agility metrics. J. Aircr. 27(3), 276–282 (1990) 48. : X-rhex: A Highly Mobile Hexapedal Robot for Sensorimotor Tasks. University of Pennsylvania, Tech. Rep. (2010) 49. : A bioinspired dynamical vertical climbing robot. Int. J. Robot. Res. 31(8), 974–996 (2012) 50. : Dynamics of rapid vertical climbing in cockroaches reveals a template. J. Exp. Biol. 209(15), 29903000 (2006) On Prismatic and Torsional Actuation for Running Legged Robots Bruce D.
C 3 ) than in our case (C 16 ). Several works plan locomotion by first searching over a graph and then filling in allowable motions [15–17]. In particular, Bretl  developed a non-gaited motion planner for the LEMUR quadruped, which has 3 DOF per limb. Hauser  solved for non-gaited motions on a 36-DOF humanoid by focusing on clever (contact-before-motion) sampling, but a single step still required several minutes, and a plan for climbing a ladder took a few hours, computationally. As described in , our approach uses RRT-Connect to solve for paths between the initial and final goal.