Title :
A model of legged locomotion gaits
Author :
Venkataraman, S.T.
Author_Institution :
Dept. of Electr. Eng., Yale Univ., New Haven, CT, USA
Abstract :
In this paper, the use of central pattern generators (CPGs) is examined for legged locomotion. In doing so, a mathematical model that has the ability to emulate arbitrary locomotion gaits is developed. A simple algorithm for encoding the characteristic gaits of bipeds, quadrupeds and hexapeds is presented
Keywords :
filtering theory; intelligent control; legged locomotion; biped; central pattern generators; hexapeds; legged locomotion gaits; quadrupeds; Biological information theory; Biological system modeling; Delay effects; Encoding; Frequency; Intelligent robots; Leg; Legged locomotion; Mathematical model; Oscillators;
Conference_Titel :
Robotics and Automation, 1996. Proceedings., 1996 IEEE International Conference on
Conference_Location :
Minneapolis, MN
Print_ISBN :
0-7803-2988-0
DOI :
10.1109/ROBOT.1996.509253
