Gait selection for quadruped and hexapod walking systems

Manuel F. Silva, J. A Tenreiro Machado, António M. Lopes, J. Tar

Research output: Conference contribution

5 Citations (Scopus)

Abstract

This paper studies periodic gaits of quadruped and hexapod locomotion systems. The purpose is to determine the best set of gait and locomotion variables for different robot velocities based on the system dynamics during walking. In this perspective, several performance measures are formulated and a set of experiments that reveal the influence of the gait and locomotion variables upon those proposed indices are performed.

Original languageEnglish
Title of host publicationICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Proceedings
EditorsW. Elmenreich, W. Haidinger, J.A.T. Machado
Pages217-222
Number of pages6
Publication statusPublished - 2004
EventICCC 2004 - Second IEEE International Conference on Computational Cybernetics - Vienna, Austria
Duration: aug. 30 2004szept. 1 2004

Other

OtherICCC 2004 - Second IEEE International Conference on Computational Cybernetics
CountryAustria
CityVienna
Period8/30/049/1/04

Fingerprint

Dynamical systems
Robots
Experiments

ASJC Scopus subject areas

  • Engineering(all)

Cite this

Silva, M. F., Machado, J. A. T., Lopes, A. M., & Tar, J. (2004). Gait selection for quadruped and hexapod walking systems. In W. Elmenreich, W. Haidinger, & J. A. T. Machado (Eds.), ICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Proceedings (pp. 217-222)

Gait selection for quadruped and hexapod walking systems. / Silva, Manuel F.; Machado, J. A Tenreiro; Lopes, António M.; Tar, J.

ICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Proceedings. ed. / W. Elmenreich; W. Haidinger; J.A.T. Machado. 2004. p. 217-222.

Research output: Conference contribution

Silva, MF, Machado, JAT, Lopes, AM & Tar, J 2004, Gait selection for quadruped and hexapod walking systems. in W Elmenreich, W Haidinger & JAT Machado (eds), ICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Proceedings. pp. 217-222, ICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Vienna, Austria, 8/30/04.
Silva MF, Machado JAT, Lopes AM, Tar J. Gait selection for quadruped and hexapod walking systems. In Elmenreich W, Haidinger W, Machado JAT, editors, ICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Proceedings. 2004. p. 217-222
Silva, Manuel F. ; Machado, J. A Tenreiro ; Lopes, António M. ; Tar, J. / Gait selection for quadruped and hexapod walking systems. ICCC 2004 - Second IEEE International Conference on Computational Cybernetics, Proceedings. editor / W. Elmenreich ; W. Haidinger ; J.A.T. Machado. 2004. pp. 217-222
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