An algorithm for optimal gait generation for level ground walking of an omnidirectional hexapod

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2004, Issue 3, 2004, Pages 3099-3104

  Durge, Amol Arun ^a   Issac, K Kurien ^b  

^a TATA CONSULTANCY SERVICES   (India)

^b INDIAN INSTITUTE OF TECHNOLOGY BOMBAY   (India)

Author keywords

Hexapod; Optimal gait generation; Walking machine

Indexed keywords

ACTUATORS; ALGORITHMS; COMPUTATION THEORY; CONTROL EQUIPMENT; GAIT ANALYSIS; GRAPH THEORY; PANTOGRAPHS; TRAJECTORIES; WALKING AIDS;

HEXAPOD; LOCOMOTION; OPTIMAL GAIT GENERATION; WALKING MACHINES;

ROBOTICS;

EID: 3042669132     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/robot.2004.1307539     Document Type: Conference Paper

References (8)

1. Amol A. Durge, Development of Algorithms for Irregular Terrain Walking of a Hexapod, Master's Thesis, Systems and Control Engineering, Indian Institute of Technology Bombay, 2003
2. Kumar V. R. and Waldron K.J., Adaptive Gait Control for a Walking Robot, Journal of Robotic Systems, pp 49-76
3. Wettergreen D., Thorpe C., Gait generation for Legged Robots, Proceedings of the IEEE International Conference on Intelligent Robots and Systems, July 1992.
4. Pal P.K. and Jayarajan K. Generation of Free Gaits- A Graph Search Approach, IEEE Transactions on Robotics and Automation, Vol 7, No. 3, June 1991 pp 299-305
5. Ching-Long Shih and Klein C.A. An Adaptive Gait for Legged Walking Machines over Rough Terrain, IEEE Transactions on Systems, man and cybernetics, Vol 23, No. 4, August 1993, pp 1150-1155
6. Mcghee R.B., Iswandhi G. I. Adaptive Locomotion of a Multi-legged Robot over Rough Terrain, IEEE Transactions on Systems, man and cybernetics, Vol SMC 9, No. 4, April 1979, pp 176-182
7. th National Conference on Machine and Mechanics, 209-216, 2001
8. th World Congress in Mechanism and Machine Science, Tianjin, China, August 2003.