The primitive levered vehicle, with limited modes of operation, is discussed. It is pointed out that stable modes of operation, which are developed from a knowledge of the requirements of levered locomotion in machines, must be a reality before the successful operation of such a machine is achieved. The problems include the development of an adequate lever system, an actuation system, and a control system which regulates the foot placement and the motion pattern of each lever. If the machine is to be useful it must be capable of maneuvering, of adjustment to terrain irregularities and of recovery from gross motion disturbances. Levered vehicles are classified into automatic and operator monitored machines, the latter being those with complete operator control of all lever motions. The problems include lever design, the foot locus, actuation systems, and lever arrangements. Some design considerations are also considered with respect to two specific types of lever arrangements. A design approach utilizing a Visual simulation* technique, operated with the help of a graphic computer terminal is also suggested.
Samenvatting