General Model of Legged Locomotion on Natural Terrain

List of Figures. List of Tables. 1. Introduction. 2. Background. 3. Legged Locomotion Model. 4. Solution Procedures. 5. Application to a Prototype Walking Machine. 6. Verification Studies. 7. Model Applications. 8. Summary. A. Vertical Foot-Soil Experiments. B. Perturbation Parameters. C. Inertial Properties for the AMBLER Massless Leg Model. Bibliography. Index.