Analysis of Quadruped LAVA Features: Speed, Energy Efficiency and Selected Motion Abilities

摘要

Mechanics and control system of four-legged walking machine LAVA has been developed in the Robotics Research Laboratory in NTU - Singapore. In this machine the novel leg design was applied - Zielinska and Heng (2000). Elaborated by author control system allowed analyse of LAVA motion properties and therefore it was possible to confirm assumptions done in the design phase. In this paper discussion of selected design problems in relation to the features of real device is given.