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A study on optimal gait pattern of a quadruped locomotion robot

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3 Author(s)
Tsujita, K. ; Dept. of Aeronaut. & Astronautics, Kyoto Univ. ; Kawakami, M. ; Tsuchiya, K.

This article deals with the optimal gait pattern in terms of the proposed control system. The phase difference among the oscillators is selected as the optimization variable. The duty ratio is selected as the optimization parameter. The performance index is constructed as a quadratic form of the input torque vector at the joints. The simulated annealing (SA) method is used as the optimization algorithm to numerically derived the optimal gait patterns according to the various duty ratios

Published in:
Systems, Man and Cybernetics, 2004 IEEE International Conference on  (Volume:1 )

Date of Conference: 0-0 0

Page(s):
745 - 749 vol.1
ISSN :
1062-922X
Print ISBN:
0-7803-8566-7
INSPEC Accession Number:
8305000
Conference Location :
The Hague
Digital Object Identifier :
10.1109/ICSMC.2004.1398391
Product Type:
Conference Publications

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