DocumentCode
3457266
Title
Primary energetics analysis of tripedal and quadrupedal gaits using the GARP-4 robot
Author
Jivraj, Jamil ; Smith, Jeffrey A.
Author_Institution
Dept. of Electr. & Comput. Eng., Ryerson Univ., Toronto, ON, Canada
fYear
2011
fDate
8-11 May 2011
Abstract
Changes inpedality can occur in animals due to injury, con genital defects, or behaviour. Here, an attempt is made to re produce similar conditions on a nominally quadrupedal robot upon losing functionality in one leg, rendering it tripedal. Attention is given to the energy consumption and efficiency during execution quadrupedal amble and basic tripedal walking gaits.
Keywords
legged locomotion; GARP-4 robot; energy consumption; nominally quadrupedal robot; primary energetics analysis; quadrupedal gaits; tripedal gaits; Animals; Knee; Legged locomotion; Servomotors; Torque; Trajectory; Locomotion; injury; pedality; quadrupedal; robot; tri-pedal; walking;
fLanguage
English
Publisher
ieee
Conference_Titel
Electrical and Computer Engineering (CCECE), 2011 24th Canadian Conference on
Conference_Location
Niagara Falls, ON
ISSN
0840-7789
Print_ISBN
978-1-4244-9788-1
Electronic_ISBN
0840-7789
Type
conf
DOI
10.1109/CCECE.2011.6030654
Filename
6030654
Link To Document