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Generation of free gait-a graph search approach

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2 Author(s)
Pal, P.K. ; Bhabha Atomic Res. Centre, Bombay, India ; Jayarajan, K.

A method is presented for the generation of a free gait for the straight-line motion of a quadruped walking machine. It uses a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided

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Robotics and Automation, IEEE Transactions on  (Volume:7 ,  Issue: 3 )