Effects of turning gait parameters on energy consumption and stability of a six-legged walking robot

Robotics and Autonomous Systems

Volumn 60, Issue 1, 2012, Pages 72-82

  Roy, Shibendu Shekhar ^a   Pratihar, Dilip Kumar ^b  

^a NATIONAL INSTITUTE OF TECHNOLOGY   (India)

^b INDIAN INSTITUTE OF TECHNOLOGY   (India)

Author keywords

Energy consumption; Gait parameters; Normalized energy stability margin; Six legged robot; Turning gait; Wave gait

Indexed keywords

A-STABILITY; ANGULAR STROKES; AVERAGE POWER; CIRCULAR PATHS; ENERGY CONSUMPTION MODEL; ENERGY EFFICIENT; ENERGY STABILITY; FLAT TERRAINS; GAIT PARAMETERS; LOW DUTY FACTOR; MULTI-LEGGED ROBOTS; OMNI-DIRECTIONAL; PER UNIT; SIX-LEGGED ROBOT; SIX-LEGGED ROBOTS; SIX-LEGGED WALKING; TURNING MOTION;

ANGULAR VELOCITY; COMPUTER SIMULATION; ENERGY UTILIZATION; ROBOTS; STABILITY; TURNING;

ENERGY EFFICIENCY;

EID: 80955149017     PISSN: 09218890     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.robot.2011.08.013     Document Type: Article

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