• DocumentCode
    1524569
  • Title

    A free gait for generalized motion

  • Author

    Pal, P.K. ; Jayarajan, K.

  • Author_Institution
    Bhabha Atomic Res. Centre, Bombay, India
  • Volume
    6
  • Issue
    5
  • fYear
    1990
  • fDate
    10/1/1990 12:00:00 AM
  • Firstpage
    597
  • Lastpage
    600
  • Abstract
    A method is presented for the generation of a locally optimal free gait for 2-D generalized motion of a quadruped walking machine. It employs a heuristic graph search procedure based on the A* algorithm. The method essentially looks into the consequences of a move to a certain depth before actually committing to it. Deadlocks and inefficiencies are thus sensed well in advance and avoided
  • Keywords
    graph theory; mobile robots; optimisation; position control; search problems; 2-D generalized motion; free gait; heuristic graph search; mobile robots; quadruped walking machine; Character generation; Foot; Gravity; Leg; Legged locomotion; Remote handling; Robot kinematics; Stability; System recovery;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/70.62049
  • Filename
    62049
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1524569