DocumentCode
2609964
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
fYear
2008
fDate
2-5 July 2008
Firstpage
1
Lastpage
6
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/AIM.2008.4601625
Filename
4601625
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