Title :
Primary energetics analysis of tripedal and quadrupedal gaits using the GARP-4 robot
Author :
Jivraj, Jamil ; Smith, Jeffrey A.
Author_Institution :
Dept. of Electr. & Comput. Eng., Ryerson Univ., Toronto, ON, Canada
Abstract :
Changes inpedality can occur in animals due to injury, con genital defects, or behaviour. Here, an attempt is made to re produce similar conditions on a nominally quadrupedal robot upon losing functionality in one leg, rendering it tripedal. Attention is given to the energy consumption and efficiency during execution quadrupedal amble and basic tripedal walking gaits.
Keywords :
legged locomotion; GARP-4 robot; energy consumption; nominally quadrupedal robot; primary energetics analysis; quadrupedal gaits; tripedal gaits; Animals; Knee; Legged locomotion; Servomotors; Torque; Trajectory; Locomotion; injury; pedality; quadrupedal; robot; tri-pedal; walking;
Conference_Titel :
Electrical and Computer Engineering (CCECE), 2011 24th Canadian Conference on
Conference_Location :
Niagara Falls, ON
Print_ISBN :
978-1-4244-9788-1
Electronic_ISBN :
0840-7789
DOI :
10.1109/CCECE.2011.6030654
