| 摘要 |
<p>A single track legged vehicle having a body and at least three in-line legs aligned one behind the other is operated by controlling each in-line leg to develop a desired ballistic flight trajectory, by controlling foot force and torque during a first phase that produces thrust; controlling foot movement during a second phase that transitions from thrusting to flight, controlling in-line leg movement during a third phase characterized by flight; controlling foot positioning during a fourth phase characterized by a transition from flight to landing; and controlling foot force and torque during a fifth phase characterized by landing of the foot of the corresponding in-line leg. Each in-line leg is transitioned through the first phase, the second phase the third phase, the fourth phase and the fifth phase to propel and torque the body along three axes according to the desired ballistic flight trajectory.</p> |
