Abstract
This paper studies periodic gaits of quadruped locomotion systems. The purpose is to determine the best set of gait and locomotion variables during walking, for different robot velocities, 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.
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References
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© 2006 Springer-Verlag Berlin Heidelberg
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Silva, M.F., Machado, J.A.T. (2006). Energy Efficiency of Quadruped Gaits. In: Tokhi, M.O., Virk, G.S., Hossain, M.A. (eds) Climbing and Walking Robots. Springer, Berlin, Heidelberg. https://doi.org/10.1007/3-540-26415-9_88
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DOI: https://doi.org/10.1007/3-540-26415-9_88
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-26413-2
Online ISBN: 978-3-540-26415-6
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