DocumentCode
3306257
Title
Gait selection for quadruped and hexapod walking systems
Author
Silva, Manuel F. ; Machado, J. A Tenreiro ; Lopes, António M. ; Tar, József K.
Author_Institution
Dept. of Electr. Eng., Inst. of Eng. of Porto
fYear
2004
fDate
2004
Firstpage
217
Lastpage
222
Abstract
This paper studies periodic gaits of quadruped and hexapod locomotion systems. The purpose is to determine the best set of gait and locomotion variables for different robot velocities based on the system dynamics during walking. In this perspective, several performance measures are formulated and a set of experiments that reveal the influence of the gait and locomotion variables upon those proposed indices are performed
Keywords
legged locomotion; robot dynamics; velocity control; gait selection; hexapod locomotion system; hexapod walking system; quadruped walking system; robot velocity; system dynamics; Foot; Hip; Leg; Legged locomotion; Mechanical engineering; Motion planning; Robot kinematics; Trajectory; Vehicle dynamics; Velocity measurement;
fLanguage
English
Publisher
ieee
Conference_Titel
Computational Cybernetics, 2004. ICCC 2004. Second IEEE International Conference on
Conference_Location
Vienna
Print_ISBN
0-7803-8588-8
Type
conf
DOI
10.1109/ICCCYB.2004.1437711
Filename
1437711
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