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An adaptive gait for legged walking machines over rough terrain

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2 Author(s)
Ching-Long Shih ; Dept. of Electr. Eng., Nat. Taiwan Inst. of Technol., Taipei, Taiwan ; Klein, C.A.

An adaptive gait algorithm for multilegged walking machines over rough terrain has been developed. The heuristic and hierarchical approach for the three levels of: 1) body motion adaptation; 2) leg sequence adaptation; and 3) leg position adaptation is effective, straightforward, and relatively independent of the number of legs. On rough terrains with depressions the algorithm behaves like a “free gait”; on level ground terrain it behaves more like a periodic gait. The effectiveness of the proposed gait over rough terrains with depressions is demonstrated with several computer simulations

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Systems, Man and Cybernetics, IEEE Transactions on  (Volume:23 ,  Issue: 4 )