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
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;
Conference_Titel :
Computational Cybernetics, 2004. ICCC 2004. Second IEEE International Conference on
Conference_Location :
Vienna
Print_ISBN :
0-7803-8588-8
DOI :
10.1109/ICCCYB.2004.1437711
