Gait selection for quadruped and hexapod walking systems

Silva, Manuel F.; Machado, J. A. Tenreiro; Lopes, António M.; Tar, József K.

http://hdl.handle.net/10400.22/10090

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Autores

Silva, Manuel F.

Machado, J. A. Tenreiro

Lopes, António M.

Tar, József K.

Resumo(s)

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.

Palavras-chave

Legged locomotion Leg Robot kinematics Foot Hip Vehicle dynamics

URI

http://hdl.handle.net/10400.22/10090

DOI

10.1109/ICCCYB.2004.1437711

Coleções

ISEP – DEE – Comunicações em eventos científicos

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