Level Trot Gait in Quadruped Robots

P, Murali Krishna and R, Prasanth Kumar and S, Srivastava (2013) Level Trot Gait in Quadruped Robots. In: International Conference on Advances in Robotics, 04-06 July, 2013, Pune.

Text 1353_raiith_ACM_Paper66.pdf - Published Version Restricted to Registered users only Download (439kB) | Request a copy

Abstract

In this paper, we investigate conditions for constant height level trotting of quadruped robots and determine their specific resistance based on mechanical work done by individual leg actuators. We show that the minimum norm solution for actuator forces lea ds to a gait with deceleration and acceleration . We also show that constant speed gait is not achievable while maintaining constant height and level posture.

[error in script]

IITH Creators:	IITH Creators ORCiD
Item Type:	Conference or Workshop Item (Paper)
Uncontrolled Keywords:	Trot gait, quadruped robot, cost of transport, revolute joint
Subjects:	Others > Robotics ?? sub4.9 ??
Divisions:	Department of Mechanical & Aerospace Engineering
Depositing User:	Team Library
Date Deposited:	24 Feb 2015 10:18
Last Modified:	24 Feb 2015 10:18
URI:	http://raiithold.iith.ac.in/id/eprint/1353
Publisher URL:	http://dx.doi.org/10.1145/2506095.2506100
Related URLs:	Google Scholar

Actions (login required)

View Item

Statistics for this ePrint Item