Gait Generation for Legged Robots
Conference Paper, Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1413 - 1420, July, 1992
Abstract
Gait generation is the formulation and selection of a sequence of coordinated leg and body motions that propel a legged robot along a desired path. Approaches to gait generation can be classified into control, behavioral, rule-based, and constraintbased paradigms. We survey these models of gait generation and introduce the Ambler, a hexapod robot that can circulate its legs to produce unique gaits. Then we present kinematic, collision, terrain, support, and stability constraints available for gait generation, and discuss our progress using a constraint-based method to generate the Ambler's gait.
BibTeX
@conference{Wettergreen-1992-13393,author = {David Wettergreen and Chuck Thorpe},
title = {Gait Generation for Legged Robots},
booktitle = {Proceedings of (IROS) IEEE/RSJ International Conference on Intelligent Robots and Systems},
year = {1992},
month = {July},
pages = {1413 - 1420},
}
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