Exploration of adaptive gait patterns with a reconfigurable linkage mechanism

IROS 2013
Pages: 4661 - 4668
Published: Nov 1, 2013
Abstract
Legged robots are able to move across irregular terrains and some can be energy efficient, but are often constrained by a limited range of gaits which can limit their locomotion capabilities considerably. This paper reports a reconfigurable design approach to robotic legged locomotion that produces a wide variety of gait cycles, opening new possibilities for innovative applications. In this paper, we present a distance-based formulation and its...
Paper Details
Title
Exploration of adaptive gait patterns with a reconfigurable linkage mechanism
Published Date
Nov 1, 2013
Journal
Pages
4661 - 4668
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