In this chapter design aspects and experiences on walking machines are summarised and critically analysed. Experiences are based on designing the MECANTI machine, which is a research and development test-bed for work machine applications in an outdoor environment. Considerations are focused to the mechatronics of the machine and especially to the control system. The control system is based on two level hierarchy and distributed control philosophy which follow the canonical layout. Differences between the requirements of engineering design and what nature has realised in animals are considered.

Inspec keywords: control system synthesis; distributed control; legged locomotion; mechatronics; research and development

Other keywords: research and development test-bed; advanced six-legged machine control system design; walking machine technology; engineering design; mechatronics; distributed control; work machine application; MECANT I machine

Subjects: Mobile robots