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Optimal tripod turning gait generation for hexapod walking machines

Published online by Cambridge University Press:  23 April 2001

S. Miao  and
D. Howard
S. Miao
Affiliation:
Aeronautical & Mechanical Engineering, University of Salford, Salford, M5 4WT (UK)
D. Howard
Affiliation:
Aeronautical & Mechanical Engineering, University of Salford, Salford, M5 4WT (UK)
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Abstract

This paper describes an algorithm for generating a tripod turning gait which, when given an arbitrarily located turning centre, firstly maximises the rotation angle (angular stride) and then secondly optimises the stability. It does not require a specific walking machine layout or leg workspace shape, and it can deal with changes in the position of the CG caused by walking on a gradient or by uneven loading.

Keywords

Hexapod walking machineGait studyOptimum stabilityGradientUneven loading
Type
Research Article
Information
Robotica , Volume 18 , Issue 6 , November 2000 , pp. 639 - 649
Copyright
© 2000 Cambridge University Press

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