Title :
Comparison of gait generation methods in Quadruped walking
Author :
Darici, Osman ; Yalcin, Mehmet Kursat ; Temeltas, Hakan
Author_Institution :
Dept. of Mechatron. Eng., Istanbul Tech. Univ., Istanbul
Abstract :
In this study, three types of gait generation methods in Quadruped walking are compared using simulation software such as ADAMS and Matlab/Simulink. Stability and straight path following performance of these three types is simulated and third type of gait generation method (Trotting) is found considerably well suited for practical point of view.
Keywords :
control engineering computing; mobile robots; ADAMS simulation software; Matlab-Simulink; Quadruped walking; gait generation methods; Bismuth; Control engineering; Leg; Legged locomotion; Mechatronics; Mobile robots; Robot kinematics; Rough surfaces; Stability; Surface roughness; Gait generation; Quadruped; trotting;
Conference_Titel :
Advanced Intelligent Mechatronics, 2008. AIM 2008. IEEE/ASME International Conference on
Conference_Location :
Xian
Print_ISBN :
978-1-4244-2494-8
Electronic_ISBN :
978-1-4244-2495-5
DOI :
10.1109/AIM.2008.4601625
