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Advisor(s)
Abstract(s)
This paper studies periodic gaits of multi-legged locomotion systems
based on dynamic models. The purpose is to determine the system performance
during walking and the best set of locomotion variables. For that objective the prescribed
motion of the robot is completely characterized in terms of several locomotion
variables such as gait, duty factor, body height, step length, stroke pitch, foot
clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In
this perspective, we formulate three performance measures of the walking robot
namely, the mean absolute energy, the mean power dispersion and the mean power
lost in the joint actuators per walking distance. A set of model-based experiments
reveals the influence of the locomotion variables in the proposed indices.