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The construction of artificial walking machines has been a challenging task for engineers for several centuries. Advances in computer technology have stimulated this research in the past two decades, and enormous progress has been made, particularly in recent years. Nevertheless, in comparing the walk of a six-legged robot with the walk of an insect, the immense differences are immediately obvious. The walking of an animal is much more versatile, and seems to be more effective and elegant. Thus it is useful to consider the corresponding biological mechanisms in order to apply these or similar mechanisms to the control of walking legs in machines. Until recently, little information on this paper summarizes recent developments.