Level Trot Gait in Quadruped Robots

P, Murali Krishna and R, Prasanth Kumar and S, Srivastava (2013) Level Trot Gait in Quadruped Robots. In: International Conference on Advances in Robotics, 04-06 July, 2013, Pune.

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In this paper, we investigate conditions for constant height level trotting of quadruped robots and determine their specific resistance based on mechanical work done by individual leg actuators. We show that the minimum norm solution for actuator forces lea ds to a gait with deceleration and acceleration . We also show that constant speed gait is not achievable while maintaining constant height and level posture.

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IITH Creators:
IITH CreatorsORCiD
Item Type: Conference or Workshop Item (Paper)
Uncontrolled Keywords: Trot gait, quadruped robot, cost of transport, revolute joint
Subjects: Others > Robotics
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Divisions: Department of Mechanical & Aerospace Engineering
Depositing User: Team Library
Date Deposited: 24 Feb 2015 10:18
Last Modified: 24 Feb 2015 10:18
URI: http://raiith.iith.ac.in/id/eprint/1353
Publisher URL: http://dx.doi.org/10.1145/2506095.2506100
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