Title :
Dynamic simulation of a four-legged gait
Author :
Banos, A. ; Jiménez, M.A. ; De Santos, P. González
Author_Institution :
Inst. de Autom. Ind. CSIO, Madrid, Spain
Abstract :
The authors deal with the behavior of a walking machine when the dynamic effects are considered. For this study a dynamic model of the RIMHO walking robot is used. The RIMHO is a four-legged robot developed for acquiring knowledge in walking machines. This model is derived considering the Lagrange-Euler approach. The main assumption is that the machine has massless legs, although some contribution of the legs to the body inertia is considered. Using this dynamic model the dynamic behavior of a wave-crab gait has been determined
Keywords :
dynamics; mobile robots; Lagrange-Euler approach; RIMHO; body inertia; dynamic model; four-legged robot; mobile robots; walking machine; wave-crab gait; Computational modeling; Extraterrestrial measurements; Foot; Lagrangian functions; Leg; Legged locomotion; Robotics and automation; Service robots; Stability; Vehicle dynamics;
Conference_Titel :
Systems, Man and Cybernetics, 1992., IEEE International Conference on
Conference_Location :
Chicago, IL
Print_ISBN :
0-7803-0720-8
DOI :
10.1109/ICSMC.1992.271725
