DocumentCode
2806700
Title
Analysis of walk for quadruped
Author
Shimoyama, Isao ; Miura, Hirofumi ; Horita, Masayuki ; Hattori, Yasuhisa
Author_Institution
Dept. of Mechano-Inf., Tokyo Univ., Japan
fYear
1991
fDate
3-5 Nov 1991
Firstpage
1541
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;
fLanguage
English
Publisher
ieee
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
Type
conf
DOI
10.1109/IROS.1991.174731
Filename
174731
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