Gait Generation For Legged Robots
نویسندگان
چکیده
Gait generation is the formulation and selection of a sequence of coordinated leg and body motions that propel a legged robot along a desired path. Approaches to gait generation can be classified into control, behavioral, rule-based, and constraintbased paradigms. We survey these models of gait generation and introduce the Ambler, a hexapod robot that can circulate its legs to produce unique gaits. Then we present kinematic, collision, terrain, support, and stability constraints available for gait generation, and discuss our progress using a constraint-based method to generate the Ambler’s gait.
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