Title :
Analysis of walk for quadruped
Author :
Shimoyama, Isao ; Miura, Hirofumi ; Horita, Masayuki ; Hattori, Yasuhisa
Author_Institution :
Dept. of Mechano-Inf., Tokyo Univ., Japan
Abstract :
The authors investigate animal gaits and compare them with robot gaits in order to determine the parameters of the dynamic walk of robots. Several parameters are introduced to analyze gaits. These parameters can be normalized, using the equation of motion of an inverted pendulum. The experimental relations among the parameters give a gait which is efficient
Keywords :
biomechanics; mobile robots; position control; animal gaits; equation of motion; inverted pendulum; quadruped robot walking; Animals; Bars; Delay; Dogs; Equations; Gravity; Horses; Leg; Legged locomotion;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174731
