Optimal trajectories for a quadruped robot with trot, amble and curvet gaits for two energetic criteria

Multibody System Dynamics

Volumn 9, Issue 1, 2003, Pages 39-62

  Muraro, A ^a   Chevallereau, C ^a   Aoustin, Y ^a  

^a INSTITUT DE RECHERCHE EN COMMUNICATIONS ET CYBERNÉTIQUE DE NANTES   (France)

Author keywords

Algebraic optimization; Cyclic motion; Dynamically stable gaits; Kinetic momentum; Optimal trajectories; Walking robot

Indexed keywords

ACTUATORS; COMPUTER SIMULATION; CONSTRAINT THEORY; DYNAMICS; GAIT ANALYSIS; MATHEMATICAL MODELS; MOTION CONTROL; OPTIMIZATION; POLYNOMIALS; UNIVERSAL JOINTS;

CYCLIC MOTION; KINETIC MOMENTUM THEOREM; MOTION VELOCITY; OPTIMAL TRAJECTORIES; PASSIVE IMPACT EQUATIONS; QUADRUPED ROBOT; VIRTUAL LEG; WALKING ROBOT;

MOBILE ROBOTS;

EID: 0037314710     PISSN: 13845640     EISSN: None     Source Type: Journal    
DOI: 10.1023/A:1021674132276     Document Type: Article

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