Document Detail


Trotting, pacing and bounding by a quadruped robot.
MedLine Citation:
PMID:  2081747     Owner:  NLM     Status:  MEDLINE    
Abstract/OtherAbstract:
This paper explores the quadruped running gaits that use the legs in pairs: the trot (diagonal pairs), the pace (lateral pairs), and the bound (front and rear pairs). Rather than study these gaits in quadruped animals, we studied them in a quadruped robot. We found that each of the gaits that use the legs in pairs can be transformed into a common underlying gait, a virtual biped gait. Once transformed, a single set of control algorithms produce all three gaits, with modest parameter variations between them. The control algorithms manipulated rebound height, running speed, and body attitude, while a low-level mechanism coordinated the behavior of the legs in each pair. The approach was tested with laboratory experiments on a four-legged robot. Data are presented that show the details of the running motion for the three gaits and for transitions from one gait to another.
Authors:
M H Raibert
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Publication Detail:
Type:  Journal Article; Research Support, U.S. Gov't, Non-P.H.S.    
Journal Detail:
Title:  Journal of biomechanics     Volume:  23 Suppl 1     ISSN:  0021-9290     ISO Abbreviation:  J Biomech     Publication Date:  1990  
Date Detail:
Created Date:  1991-05-09     Completed Date:  1991-05-09     Revised Date:  2009-11-11    
Medline Journal Info:
Nlm Unique ID:  0157375     Medline TA:  J Biomech     Country:  UNITED STATES    
Other Details:
Languages:  eng     Pagination:  79-98     Citation Subset:  IM    
Affiliation:
Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge 02139.
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MeSH Terms
Descriptor/Qualifier:
Algorithms
Animals
Gait / physiology*
Models, Biological
Robotics*

From MEDLINE®/PubMed®, a database of the U.S. National Library of Medicine


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