Gait Selection for Quadruped Legged Robots

摘要

This paper studies periodic gaits of quadruped locomotion systems.The purpose is to determine the best set of gait and locomotion variables for differentrobot velocities based on the system dynamics during walking. In this perspective,several performance measures are formulated and a set of experiments reveals theinfluence of the gait and locomotion variables upon those proposed indices. Theresults show that the locomotion parameters (β, LS and HB) should be adapted tothe walking velocity in order to optimize the robot performance. Furthermore, for thecase of a quadruped robot, we concluded that the gait should be adapted to VF .