• DocumentCode
    2188153
  • Title

    A model of legged locomotion gaits

  • Author

    Venkataraman, S.T.

  • Author_Institution
    Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
  • Volume
    4
  • fYear
    1996
  • fDate
    22-28 Apr 1996
  • Firstpage
    3545
  • Abstract
    In this paper, the use of central pattern generators (CPGs) is examined for legged locomotion. In doing so, a mathematical model that has the ability to emulate arbitrary locomotion gaits is developed. A simple algorithm for encoding the characteristic gaits of bipeds, quadrupeds and hexapeds is presented
  • Keywords
    filtering theory; intelligent control; legged locomotion; biped; central pattern generators; hexapeds; legged locomotion gaits; quadrupeds; Biological information theory; Biological system modeling; Delay effects; Encoding; Frequency; Intelligent robots; Leg; Legged locomotion; Mathematical model; Oscillators;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
  • Conference_Location
    Minneapolis, MN
  • ISSN
    1050-4729
  • Print_ISBN
    0-7803-2988-0
  • Type

    conf

  • DOI
    10.1109/ROBOT.1996.509253
  • Filename
    509253
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=2188153