Name
Abstract | ||
|---|---|---|
This paper studies periodic gaits of multi-legged robot locomotion systems based on dynamic models. The purpose is to determine the system performance during walking and the best set of locomotion variables. For that objective the prescribed motion of the robot is completely characterized in terms of several locomotion variables such as gait, duty factor, body height, step length, stroke pitch, foot clearance, legs link lengths, foot-hip offset, body and legs mass and cycle time. In this perspective, we formulate four performance measures of the walking robot namely, the locomobility of the foot, the mean absolute power, the mean power dispersion and the mean power lost in the joint actuators per walking distance. A set of model- based experiments reveals the influence of the locomotion variables in the proposed indices. |
Year | DOI | Venue |
|---|---|---|
2002 | 10.1109/ROBOT.2002.1013564 | Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference |
Keywords | Field | DocType |
legged locomotion,robot dynamics,body height,cycle time,duty factor,dynamic models,foot clearance,foot-hip offset,locomobility,locomotion variables,mean absolute power,mean power dispersion,mean power lost,multi-legged systems,performance analysis,periodic gaits,step length,stroke pitch,walking,dispersion,leg,performance index,optimal control,minimization,gait,robots,actuators,system performance,foot | Gait,Duty cycle,Control theory,Simulation,Control engineering,Transition from walking to running,Robot locomotion,Engineering,Robot,Periodic graph (geometry),Offset (computer science),Actuator | Conference |
Volume | Issue | Citations |
3 | 1 | 4 |
PageRank | References | Authors |
0.60 | 10 | 3 |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Manuel F. Silva | 1 | 65 | 7.66 |
| José António Tenreiro Machado | 2 | 102 | 16.42 |
| Antonio M. Lopes | 3 | 144 | 23.64 |