Title :
On the stability properties of hexapod tripod gait
Author :
Lee, T.-T. ; Liao, Ching-Ming ; Chen, Ting-Kou
Author_Institution :
Nat. Chiao-Tung Univ., Hsinchu, Taiwan
fDate :
8/1/1988 12:00:00 AM
Abstract :
Hexapod tripod gaits for straight-line motion and crab walking are derived. Mathematical relations that express the stability margin, the stride length, and the duty factor are formulated for straight-line motion and for crab walking, respectively. The derived results provide tripod gaits of the hexapond for walking with a prescribed stability margin either over perfect terrain or constant slope terrain
Keywords :
robots; crab walking; duty factor; gait analysis; hexapod tripod gait; stability properties; straight-line motion; stride length; Animals; Character recognition; Communication industry; Communication system control; Control engineering; Foot; Leg; Legged locomotion; Stability; Vehicles;
Journal_Title :
Robotics and Automation, IEEE Journal of
