Gait selection for quadruped and hexapod walking systems

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...

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Bibliographic Details
Main Author: Silva, Manuel F. (author)
Other Authors: Machado, J. A. Tenreiro (author), Lopes, António M. (author), Tar, József K. (author)
Format: conferenceObject
Language:eng
Published: 2017
Subjects:
Legged locomotion
Leg
Robot kinematics
Foot
Hip
Vehicle dynamics
Online Access:http://hdl.handle.net/10400.22/10090
Country:Portugal
Oai:oai:recipp.ipp.pt:10400.22/10090

Internet

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

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