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

A simplified forward gait control for a quadruped walking robot

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

2 Author(s)
Pack, D.J. ; Robot Vision Lab., Purdue Univ., West Lafayette, IN, USA ; Kak, A.C.

Presents a simplified forward gait for a quadruped walking robot. The proposed gait is a straight line, periodic, monotonically forward (SLPMF) gait and can easily be used for adaptive gait control, requiring only simple modifications. The authors show that given a support pattern, meaning a polygon generated by connecting the feet positions that are in contact with the ground, only certain sequences of leg movements will generate the SLPMF gait. The authors also introduce a useful method to determine how to preserve stability of a quadruped robot during the motions called for by an SLPMF gait. The authors also discuss the leg design from a hardware standpoint; the design permits independent joint control

Published in:

Intelligent Robots and Systems '94. 'Advanced Robotic Systems and the Real World', IROS '94. Proceedings of the IEEE/RSJ/GI International Conference on  (Volume:2 )

Date of Conference:

12-16 Sep 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.