Optimum Gait Selection for Quadruped Robots

Bibliographic Details
Main Author: Silva, Manuel
Publication Date: 2006
Other Authors: Tenreiro Machado, J. A.
Language: eng
Source: Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
Download full: http://hdl.handle.net/10400.22/13323
Summary: This paper studies periodic gaits of quadruped animals and its application to multilegged artificial locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities and intrabody compliance characteristics, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity and to the robot intra-body compliance characteristics.
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spelling Optimum Gait Selection for Quadruped RobotsRoboticsLocomotionModellingSimulationThis paper studies periodic gaits of quadruped animals and its application to multilegged artificial locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities and intrabody compliance characteristics, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity and to the robot intra-body compliance characteristics.REPOSITÓRIO P.PORTOSilva, ManuelTenreiro Machado, J. A.2019-04-02T10:26:08Z2006-092006-09-01T00:00:00Zconference objectinfo:eu-repo/semantics/publishedVersionapplication/pdfhttp://hdl.handle.net/10400.22/13323enginfo:eu-repo/semantics/openAccessreponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiainstacron:RCAAP2025-04-02T03:03:36Zoai:recipp.ipp.pt:10400.22/13323Portal AgregadorONGhttps://www.rcaap.pt/oai/openaireinfo@rcaap.ptopendoar:https://opendoar.ac.uk/repository/71602025-05-29T00:38:01.078338Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologiafalse
dc.title.none.fl_str_mv Optimum Gait Selection for Quadruped Robots
title Optimum Gait Selection for Quadruped Robots
spellingShingle Optimum Gait Selection for Quadruped Robots
Silva, Manuel
Robotics
Locomotion
Modelling
Simulation
title_short Optimum Gait Selection for Quadruped Robots
title_full Optimum Gait Selection for Quadruped Robots
title_fullStr Optimum Gait Selection for Quadruped Robots
title_full_unstemmed Optimum Gait Selection for Quadruped Robots
title_sort Optimum Gait Selection for Quadruped Robots
author Silva, Manuel
author_facet Silva, Manuel
Tenreiro Machado, J. A.
author_role author
author2 Tenreiro Machado, J. A.
author2_role author
dc.contributor.none.fl_str_mv REPOSITÓRIO P.PORTO
dc.contributor.author.fl_str_mv Silva, Manuel
Tenreiro Machado, J. A.
dc.subject.por.fl_str_mv Robotics
Locomotion
Modelling
Simulation
topic Robotics
Locomotion
Modelling
Simulation
description This paper studies periodic gaits of quadruped animals and its application to multilegged artificial locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities and intrabody compliance characteristics, based on two formulated performance measures. A set of experiments reveals the influence of the gait and locomotion variables upon the proposed indices, namely that the gait and the locomotion parameters should be adapted to the robot forward velocity and to the robot intra-body compliance characteristics.
publishDate 2006
dc.date.none.fl_str_mv 2006-09
2006-09-01T00:00:00Z
2019-04-02T10:26:08Z
dc.type.driver.fl_str_mv conference object
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/13323
url http://hdl.handle.net/10400.22/13323
dc.language.iso.fl_str_mv eng
language eng
dc.rights.driver.fl_str_mv info:eu-repo/semantics/openAccess
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.source.none.fl_str_mv reponame:Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
instname:FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron:RCAAP
instname_str FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
instacron_str RCAAP
institution RCAAP
reponame_str Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
collection Repositórios Científicos de Acesso Aberto de Portugal (RCAAP)
repository.name.fl_str_mv Repositórios Científicos de Acesso Aberto de Portugal (RCAAP) - FCCN, serviços digitais da FCT – Fundação para a Ciência e a Tecnologia
repository.mail.fl_str_mv info@rcaap.pt
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