Silva, Manuel F.Machado, J. A. Tenreiro2016-12-142005978-3-540-26413-2978-3-540-26415-6http://hdl.handle.net/10400.22/8815This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determinate the best set of gait and locomotion variables during walking, for different robot velocities, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the prposed indices, namely that the gait and the locomotion parameters should be adapted to the robot foward velocity.engRoboticsLocomotionModellingSimulationbook10.1007/3-540-26415-9_88