Cart (Loading....) | Create Account
Close category search window
 

Gait generation for a six-legged walking machine through graph search

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Pal, P.K. ; Div. of Remote Handling & Robotics, Bhabha Atomic Res. Centre, Bombay, India ; Mahadev, V. ; Jayarajan, K.

A walking machine must plan its footsteps in such a way that it is able to follow the desired route without stepping over the bad patches on the ground. A good way of doing this is to search through a graph of possible moves. We have previously done that for a four-legged machine (1990, 1991). For a six-legged machine, however, there are too many ways of choosing a stable support pattern. So, strong heuristics are needed to reduce the search. In this paper, a novel heuristic rule, based on the support state transitions of the wave gait, has been presented. This rule helps in converging to and maintaining the wave gait through a limited search, while retaining adequate options to deviate from the wave gait, as and when needed, to adapt to the terrain, or to execute a generalised motion. Thus, we have a gait generation mechanism that combines the efficiency of the wave gait with the terrain adaptivity of the free gait

Published in:

Robotics and Automation, 1994. Proceedings., 1994 IEEE International Conference on

Date of Conference:

8-13 May 1994

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.