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http://dx.doi.org/10.5391/IJFIS.2010.10.4.308

Performance Index-Based Evaluation of Quadruped RoboticWalking Configuration  

Kim, Byoung-Ho (Bio-Mimetic Control & Robotics Lab., Dept. of Mechatronics Eng., Kyungsung Univ.)
Publication Information
International Journal of Fuzzy Logic and Intelligent Systems / v.10, no.4, 2010 , pp. 308-313 More about this Journal
Abstract
This paper presents a performance index-based evaluation for a better quadruped robotic walking configuration. For this purpose, we propose a balance-based performance index that enables to evaluate the walk configuration of quadruped robots in terms of balance. In order to show the effectiveness the proposed performance index, we consider some types of walking configurations for a quadruped robotic walking and analyze the trend of the proposed performance index in those quadrupedal walking. Through the simulation study, it is shown that an effective walk configuration for a quadrupedal walking can be planned by adopting the proposed performance index.
Keywords
Performance index; Balance; Walking configuration; Quadruped robots;
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