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Gait Selection for Quadruped Legged Robots
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This paper studies periodic gaits of quadruped 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 reveals the
influence of the gait and locomotion variables upon those proposed indices. The
results show that the locomotion parameters (β, LS and HB) should be adapted to
the walking velocity in order to optimize the robot performance. Furthermore, for the
case of a quadruped robot, we concluded that the gait should be adapted to VF .