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http://dx.doi.org/10.5391/JKIIS.2009.19.5.622

Analysis on Effective Walking Pattern for Multi-Legged Robots  

Kim, Byoung-Ho (Bio-Mimetic Control & Robotics Lab., School of Electrical and Mechatronics Eng., Kyungsung Univ.)
Publication Information
Journal of the Korean Institute of Intelligent Systems / v.19, no.5, 2009 , pp. 622-628 More about this Journal
Abstract
A proper walking pattern is to be assigned for a walk of multi-legged robots. For the purpose of identifying a good walking pattern for multi-legged robots, this paper consider a simple model of quadruped robotic walking and analyze its walking balance based on the centroid of foot polygons formed in every step. A performance index to estimate the walking balance is also proposed. Simulation studies show that the centroid trajectory of foot polygons and the walking balance in a common quadruped walking are different according to the walking pattern employed. Based on the walking balance index and a bio-mimetic aspect, a useful walking pattern for quadruped robots is finally addressed.
Keywords
Multi-legged robot; Walking pattern; Centroid trajectory of foot polygon; Walking balance;
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